{"id":"https://openalex.org/W7124143488","doi":"https://doi.org/10.1109/tro.2026.3653887","title":"Affine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency","display_name":"Affine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7124143488","doi":"https://doi.org/10.1109/tro.2026.3653887"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2026.3653887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3653887","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100676325","display_name":"Song Yang","orcid":"https://orcid.org/0000-0002-4448-9720"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]},{"id":"https://openalex.org/I87253917","display_name":"Manchester University","ror":"https://ror.org/02aswte26","country_code":"US","type":"education","lineage":["https://openalex.org/I87253917"]}],"countries":["GB","US"],"is_corresponding":true,"raw_author_name":"Yang Song","raw_affiliation_strings":["Manchester Centre for Robotics and AI, The University of Manchester, Manchester, U.K"],"affiliations":[{"raw_affiliation_string":"Manchester Centre for Robotics and AI, The University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311","https://openalex.org/I87253917"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123021488","display_name":"Liang Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Liang Zhao","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, Edinburgh, U.K"],"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121537663","display_name":"Shoudong Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Shoudong Huang","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney, Sydney, NSW, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100676325"],"corresponding_institution_ids":["https://openalex.org/I28407311","https://openalex.org/I87253917"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20976679,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"42","issue":null,"first_page":"874","last_page":"893"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.4575999975204468,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.4575999975204468,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.29030001163482666,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.050599999725818634,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.9706000089645386},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.8518999814987183},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5842999815940857},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.572700023651123},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5292999744415283},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.5253000259399414},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5146999955177307}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.9706000089645386},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.8518999814987183},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5842999815940857},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.572700023651123},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5292999744415283},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.5253000259399414},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5146999955177307},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4787999987602234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47350001335144043},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.45840001106262207},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.41670000553131104},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.36970001459121704},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.36149999499320984},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3587000072002411},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.33640000224113464},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32519999146461487},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2849000096321106},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.27950000762939453},{"id":"https://openalex.org/C204707403","wikidata":"https://www.wikidata.org/wiki/Q1152398","display_name":"Canonical form","level":2,"score":0.2757999897003174}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2026.3653887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3653887","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W146039009","https://openalex.org/W1531532259","https://openalex.org/W1557324374","https://openalex.org/W1943808550","https://openalex.org/W2011754354","https://openalex.org/W2016456873","https://openalex.org/W2027055074","https://openalex.org/W2051349034","https://openalex.org/W2056298239","https://openalex.org/W2056358962","https://openalex.org/W2074696044","https://openalex.org/W2091264894","https://openalex.org/W2111295154","https://openalex.org/W2121990344","https://openalex.org/W2140998418","https://openalex.org/W2146861713","https://openalex.org/W2158090912","https://openalex.org/W2160584648","https://openalex.org/W2165468899","https://openalex.org/W2461937780","https://openalex.org/W2495681058","https://openalex.org/W2569720095","https://openalex.org/W2592781794","https://openalex.org/W2604425362","https://openalex.org/W2626812347","https://openalex.org/W2900470576","https://openalex.org/W2963566952","https://openalex.org/W2968125992","https://openalex.org/W4205293427","https://openalex.org/W4205759170","https://openalex.org/W4206221290","https://openalex.org/W4210423514","https://openalex.org/W4241459016","https://openalex.org/W4285044793","https://openalex.org/W4285102531","https://openalex.org/W4285512267","https://openalex.org/W4288059702","https://openalex.org/W4317796251","https://openalex.org/W4319459257","https://openalex.org/W4383899755","https://openalex.org/W4385749067","https://openalex.org/W4390719155","https://openalex.org/W4404576850","https://openalex.org/W4405974628"],"related_works":[],"abstract_inverted_index":{"Inconsistency":[0],"issue":[1],"is":[2,21,88,138],"one":[3,150],"crucial":[4],"challenge":[5],"for":[6,16,46,169],"the":[7,25,30,34,66,74,92,106,158,161],"performance":[8],"of":[9,27,73,94,118,134,175],"extended":[10],"Kalman":[11],"filter":[12],"(EKF)":[13],"based":[14],"methods":[15,126],"state":[17,75],"estimation":[18],"problems,":[19],"which":[20,101],"mainly":[22],"affected":[23],"by":[24,98,180],"discrepancy":[26],"observability":[28,47,64,107],"between":[29],"EKF":[31,59,85,96],"model":[32],"and":[33,43,145,149],"underlying":[35],"dynamic":[36],"system.":[37],"In":[38],"this":[39,79],"work,":[40],"some":[41,123],"sufficient":[42],"necessary":[44],"conditions":[45],"maintenance":[48],"are":[49,127,178],"first":[50],"proved.":[51],"We":[52],"find":[53],"that":[54],"under":[55],"certain":[56],"conditions,":[57],"an":[58],"can":[60,165],"naturally":[61,104,162],"maintain":[62],"correct":[63],"if":[65],"corresponding":[67],"linearization":[68],"makes":[69],"unobservable":[70],"subspace":[71],"independent":[72],"values.":[76],"Based":[77],"on":[78,140],"theoretical":[80],"finding,":[81],"a":[82,112],"novel":[83],"affine":[84,99],"(Aff-EKF)":[86],"framework":[87,121],"proposed":[89,136,159],"to":[90],"overcome":[91],"inconsistency":[93],"standard":[95],"(Std-EKF)":[97],"transformations,":[100],"not":[102],"only":[103],"satisfies":[105],"constraint":[108],"but":[109],"also":[110],"has":[111],"clear":[113],"design":[114],"procedure.":[115],"The":[116,132,172],"advantages":[117],"our":[119,135],"Aff-EKF":[120],"over":[122],"commonly":[124],"used":[125],"demonstrated":[128,139],"through":[129],"mathematical":[130],"analyses.":[131],"effectiveness":[133],"method":[137],"three":[141],"different":[142],"simultaneous":[143],"localization":[144,153],"mapping":[146],"(SLAM)":[147],"applications":[148],"3D":[151],"cooperative":[152],"(CL)":[154],"problem.":[155],"Specifically,":[156],"following":[157],"procedure,":[160],"consistent":[163],"Aff-EKFs":[164,177],"be":[166],"explicitly":[167],"derived":[168],"these":[170,176],"problems.":[171],"consistency":[173],"improvement":[174],"validated":[179],"Monte":[181],"Carlo":[182],"simulations.":[183]},"counts_by_year":[],"updated_date":"2026-02-07T06:11:34.122080","created_date":"2026-01-15T00:00:00"}