{"id":"https://openalex.org/W3217692928","doi":"https://doi.org/10.1109/tsp.2021.3129599","title":"Analysis of Propagation Delay Effects on Bearings-Only Fusion of Heterogeneous Sensors","display_name":"Analysis of Propagation Delay Effects on Bearings-Only Fusion of Heterogeneous Sensors","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3217692928","doi":"https://doi.org/10.1109/tsp.2021.3129599","mag":"3217692928"},"language":"en","primary_location":{"id":"doi:10.1109/tsp.2021.3129599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsp.2021.3129599","pdf_url":null,"source":{"id":"https://openalex.org/S168680287","display_name":"IEEE Transactions on Signal Processing","issn_l":"1053-587X","issn":["1053-587X","1941-0476"],"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 Signal Processing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Analysis_of_propagation_delay_effects_on_bearings-only_fusion_of_heterogeneous_sensors/27549816","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028610249","display_name":"Sanjeev Arulampalam","orcid":"https://orcid.org/0000-0003-3557-3258"},"institutions":[{"id":"https://openalex.org/I1303474014","display_name":"Defence Science and Technology Group","ror":"https://ror.org/05ddrvt52","country_code":"AU","type":"government","lineage":["https://openalex.org/I1303474014","https://openalex.org/I2801453606","https://openalex.org/I3139952251"]},{"id":"https://openalex.org/I3139952251","display_name":"Department of Defence","ror":"https://ror.org/051wnqr14","country_code":"AU","type":"government","lineage":["https://openalex.org/I2801453606","https://openalex.org/I3139952251"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sanjeev Arulampalam","raw_affiliation_strings":["Defence, Defence Science and Technology Group Edinburgh, 124134 Edinburgh, South Australia, Australia, 5111 (e-mail: Sanjeev.Arulampalam@dst.defence.gov.au)"],"raw_orcid":"https://orcid.org/0000-0003-3557-3258","affiliations":[{"raw_affiliation_string":"Defence, Defence Science and Technology Group Edinburgh, 124134 Edinburgh, South Australia, Australia, 5111 (e-mail: Sanjeev.Arulampalam@dst.defence.gov.au)","institution_ids":["https://openalex.org/I1303474014","https://openalex.org/I3139952251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038829303","display_name":"Branko Risti\u0107","orcid":"https://orcid.org/0000-0001-8561-4412"},"institutions":[{"id":"https://openalex.org/I82951845","display_name":"RMIT University","ror":"https://ror.org/04ttjf776","country_code":"AU","type":"education","lineage":["https://openalex.org/I82951845"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Branko Ristic","raw_affiliation_strings":["School of Engineering, RMIT University, 5376 Melbourne, Victoria, Australia, 3000 (e-mail: branko.ristic@rmit.edu.au)"],"raw_orcid":"https://orcid.org/0000-0001-8561-4412","affiliations":[{"raw_affiliation_string":"School of Engineering, RMIT University, 5376 Melbourne, Victoria, Australia, 3000 (e-mail: branko.ristic@rmit.edu.au)","institution_ids":["https://openalex.org/I82951845"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028440212","display_name":"T. Kirubarajan","orcid":null},"institutions":[{"id":"https://openalex.org/I98251732","display_name":"McMaster University","ror":"https://ror.org/02fa3aq29","country_code":"CA","type":"education","lineage":["https://openalex.org/I98251732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Thia Kirubarajan","raw_affiliation_strings":["Electrical and Computer Engineering, McMaster University, Hamilton, Ontario, Canada, L8S 4K1 (e-mail: kiruba@mcmaster.ca)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, McMaster University, Hamilton, Ontario, Canada, L8S 4K1 (e-mail: kiruba@mcmaster.ca)","institution_ids":["https://openalex.org/I98251732"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9099,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.80214063,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"69","issue":null,"first_page":"6488","last_page":"6503"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9832000136375427,"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/estimator","display_name":"Estimator","score":0.6536955833435059},{"id":"https://openalex.org/keywords/cram\u00e9r\u2013rao-bound","display_name":"Cram\u00e9r\u2013Rao bound","score":0.6520871520042419},{"id":"https://openalex.org/keywords/propagation-delay","display_name":"Propagation delay","score":0.6513247489929199},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5314000844955444},{"id":"https://openalex.org/keywords/propagation-of-uncertainty","display_name":"Propagation of uncertainty","score":0.5223566293716431},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.520486056804657},{"id":"https://openalex.org/keywords/taylor-series","display_name":"Taylor series","score":0.4573177695274353},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.44999539852142334},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.4323774576187134},{"id":"https://openalex.org/keywords/degradation","display_name":"Degradation (telecommunications)","score":0.431274950504303},{"id":"https://openalex.org/keywords/bearing","display_name":"Bearing (navigation)","score":0.4268733263015747},{"id":"https://openalex.org/keywords/signal-processing","display_name":"Signal processing","score":0.41637134552001953},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41612523794174194},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37846875190734863},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35047784447669983},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.3136574625968933},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.205282062292099},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10932227969169617}],"concepts":[{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6536955833435059},{"id":"https://openalex.org/C4978587","wikidata":"https://www.wikidata.org/wiki/Q1138810","display_name":"Cram\u00e9r\u2013Rao bound","level":3,"score":0.6520871520042419},{"id":"https://openalex.org/C90806461","wikidata":"https://www.wikidata.org/wiki/Q1144416","display_name":"Propagation delay","level":2,"score":0.6513247489929199},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5314000844955444},{"id":"https://openalex.org/C123614077","wikidata":"https://www.wikidata.org/wiki/Q1364905","display_name":"Propagation of uncertainty","level":2,"score":0.5223566293716431},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.520486056804657},{"id":"https://openalex.org/C158946198","wikidata":"https://www.wikidata.org/wiki/Q131187","display_name":"Taylor series","level":2,"score":0.4573177695274353},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.44999539852142334},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.4323774576187134},{"id":"https://openalex.org/C2779679103","wikidata":"https://www.wikidata.org/wiki/Q5251805","display_name":"Degradation (telecommunications)","level":2,"score":0.431274950504303},{"id":"https://openalex.org/C199978012","wikidata":"https://www.wikidata.org/wiki/Q1273815","display_name":"Bearing (navigation)","level":2,"score":0.4268733263015747},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.41637134552001953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41612523794174194},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37846875190734863},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35047784447669983},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.3136574625968933},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.205282062292099},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10932227969169617},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tsp.2021.3129599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsp.2021.3129599","pdf_url":null,"source":{"id":"https://openalex.org/S168680287","display_name":"IEEE Transactions on Signal Processing","issn_l":"1053-587X","issn":["1053-587X","1941-0476"],"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 Signal Processing","raw_type":"journal-article"},{"id":"pmh:oai:alma61RMIT.INST:11286792360001341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/TSP.2021.3129599","pdf_url":null,"source":{"id":"https://openalex.org/S4306402074","display_name":"RMIT Research Repository (RMIT University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82951845","host_organization_name":"RMIT University","host_organization_lineage":["https://openalex.org/I82951845"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/27549816","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Analysis_of_propagation_delay_effects_on_bearings-only_fusion_of_heterogeneous_sensors/27549816","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/27549816","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Analysis_of_propagation_delay_effects_on_bearings-only_fusion_of_heterogeneous_sensors/27549816","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1492138642","https://openalex.org/W1568122762","https://openalex.org/W1604043947","https://openalex.org/W1972946385","https://openalex.org/W2004385997","https://openalex.org/W2005452565","https://openalex.org/W2009454421","https://openalex.org/W2011683635","https://openalex.org/W2023780907","https://openalex.org/W2031837364","https://openalex.org/W2047852038","https://openalex.org/W2056199519","https://openalex.org/W2063396763","https://openalex.org/W2077831870","https://openalex.org/W2089286422","https://openalex.org/W2096607236","https://openalex.org/W2100971324","https://openalex.org/W2103083486","https://openalex.org/W2106860048","https://openalex.org/W2118021831","https://openalex.org/W2129530323","https://openalex.org/W2269700958","https://openalex.org/W2344431660","https://openalex.org/W2425094033","https://openalex.org/W2509085205","https://openalex.org/W2533569341","https://openalex.org/W2796068862","https://openalex.org/W2884563070","https://openalex.org/W2889562027","https://openalex.org/W2889738049","https://openalex.org/W2903571355","https://openalex.org/W2979653692","https://openalex.org/W2980303531","https://openalex.org/W3008165448","https://openalex.org/W3094571626","https://openalex.org/W3109352503","https://openalex.org/W6629391407","https://openalex.org/W6635997743","https://openalex.org/W6693477440","https://openalex.org/W6717326220","https://openalex.org/W6725186118"],"related_works":["https://openalex.org/W2164801693","https://openalex.org/W2120266201","https://openalex.org/W2585557503","https://openalex.org/W2389491004","https://openalex.org/W2384282517","https://openalex.org/W2054372568","https://openalex.org/W4213108657","https://openalex.org/W2049897028","https://openalex.org/W2024522858","https://openalex.org/W2018064886"],"abstract_inverted_index":{"In":[0],"bearings-only":[1,52,107],"tracking":[2],"applications,":[3],"the":[4,9,18,24,34,46,51,63,81,89,96,118,133,136,151,158,175],"standard":[5],"bearing":[6],"model":[7],"ignores":[8],"propagation":[10,48,60,97,152],"delay":[11,49,61,98],"of":[12,33,54,88,99,123,128,135],"signal,":[13],"except":[14],"in":[15,50,105,114],"cases":[16],"where":[17],"target":[19],"speed":[20,120],"is":[21,121,143,164],"comparable":[22],"to":[23,111,174],"signal":[25,47,119],"speed.":[26],"This":[27,161],"paper":[28],"provides":[29],"a":[30,39,70,100,140],"theoretical":[31,137],"analysis":[32,92],"performance":[35,115,172],"degradation":[36,113],"suffered":[37],"by":[38],"maximum":[40],"likelihood":[41],"estimator":[42],"(MLE)":[43],"that":[44,94,127,145],"neglects":[45],"fusion":[53,108],"heterogeneous":[55],"sensors:":[56],"one":[57],"with":[58,65],"negligible":[59],"and":[62,83,167],"other":[64],"non-negligible":[66,103],"delay.":[67],"By":[68],"using":[69],"higher":[71,125],"order":[72],"Taylor-series":[73],"based":[74],"analysis,":[75],"we":[76],"derive":[77],"approximate":[78],"expressions":[79],"for":[80,157],"bias":[82],"mean":[84],"square":[85],"error":[86,171],"(MSE)":[87],"MLE.":[90],"The":[91],"shows":[93],"neglecting":[95],"sensor":[101],"(with":[102],"delay)":[104],"such":[106],"problems":[109],"leads":[110],"severe":[112],"even":[116],"when":[117],"orders":[122],"magnitude":[124],"than":[126],"target.":[129],"Simulation":[130],"results":[131],"confirm":[132],"validity":[134],"predictions.":[138],"Finally,":[139],"bias-compensated":[141,162],"MLE":[142,163],"proposed":[144],"not":[146],"only":[147],"takes":[148],"into":[149],"account":[150],"delay,":[153],"but":[154],"also":[155],"compensates":[156],"estimation":[159],"bias.":[160],"nearly":[165],"unbiased":[166],"exhibits":[168],"an":[169],"RMS":[170],"close":[173],"Cramer":[176],"Rao":[177],"lower":[178],"bound.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}