{"id":"https://openalex.org/W3015058102","doi":"https://doi.org/10.1109/tvt.2020.2983738","title":"IMU-Based Automated Vehicle Body Sideslip Angle and Attitude Estimation Aided by GNSS Using Parallel Adaptive Kalman Filters","display_name":"IMU-Based Automated Vehicle Body Sideslip Angle and Attitude Estimation Aided by GNSS Using Parallel Adaptive Kalman Filters","publication_year":2020,"publication_date":"2020-03-30","ids":{"openalex":"https://openalex.org/W3015058102","doi":"https://doi.org/10.1109/tvt.2020.2983738","mag":"3015058102"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2020.2983738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.2983738","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5100379486","display_name":"Lu Xiong","orcid":"https://orcid.org/0000-0002-1673-2658"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lu Xiong","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1673-2658","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101873167","display_name":"Xin Xia","orcid":"https://orcid.org/0000-0002-5108-7578"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Xia","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-5108-7578","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026265936","display_name":"Yishi Lu","orcid":"https://orcid.org/0000-0003-0334-6886"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yishi Lu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101856615","display_name":"Wei Liu","orcid":"https://orcid.org/0000-0003-4251-5793"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Liu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103159071","display_name":"Letian Gao","orcid":"https://orcid.org/0000-0003-4446-1047"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Letian Gao","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072051664","display_name":"Shunhui Song","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shunhui Song","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082936279","display_name":"Zhuoping Yu","orcid":"https://orcid.org/0000-0002-8775-0052"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuoping Yu","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8775-0052","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100379486"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":7.9412,"has_fulltext":false,"cited_by_count":115,"citation_normalized_percentile":{"value":0.98074967,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"69","issue":"10","first_page":"10668","last_page":"10680"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.7289149165153503},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6711359620094299},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6700894236564636},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6527409553527832},{"id":"https://openalex.org/keywords/attitude-and-heading-reference-system","display_name":"Attitude and heading reference system","score":0.6278716325759888},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.541964054107666},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.5079837441444397},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.5030152201652527},{"id":"https://openalex.org/keywords/rate-gyro","display_name":"Rate gyro","score":0.49775198101997375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4838475286960602},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4608229398727417},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4366462230682373},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.4128507673740387},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40890568494796753},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.3466339707374573},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.29061052203178406},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.21794873476028442},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.19746020436286926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18224027752876282},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09221190214157104},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08761414885520935}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7289149165153503},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6711359620094299},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6700894236564636},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6527409553527832},{"id":"https://openalex.org/C204114589","wikidata":"https://www.wikidata.org/wiki/Q4248887","display_name":"Attitude and heading reference system","level":3,"score":0.6278716325759888},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.541964054107666},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.5079837441444397},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.5030152201652527},{"id":"https://openalex.org/C15476841","wikidata":"https://www.wikidata.org/wiki/Q7295535","display_name":"Rate gyro","level":3,"score":0.49775198101997375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4838475286960602},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4608229398727417},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4366462230682373},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.4128507673740387},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40890568494796753},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.3466339707374573},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.29061052203178406},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.21794873476028442},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.19746020436286926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18224027752876282},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09221190214157104},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08761414885520935},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2020.2983738","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2020.2983738","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5199999809265137}],"awards":[{"id":"https://openalex.org/G5993403745","display_name":null,"funder_award_id":"51975414","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1532986555","https://openalex.org/W1612997784","https://openalex.org/W1966244759","https://openalex.org/W1970930411","https://openalex.org/W1975009090","https://openalex.org/W1977353439","https://openalex.org/W1986964984","https://openalex.org/W1987244319","https://openalex.org/W1997237786","https://openalex.org/W1997891847","https://openalex.org/W2011374847","https://openalex.org/W2032563920","https://openalex.org/W2036843058","https://openalex.org/W2053786653","https://openalex.org/W2067018333","https://openalex.org/W2067042986","https://openalex.org/W2088616383","https://openalex.org/W2122750542","https://openalex.org/W2164910807","https://openalex.org/W2168730841","https://openalex.org/W2342405438","https://openalex.org/W2486908081","https://openalex.org/W2559850636","https://openalex.org/W2593109298","https://openalex.org/W2737927938","https://openalex.org/W2744624603","https://openalex.org/W2765560729","https://openalex.org/W2768332361","https://openalex.org/W2782770732","https://openalex.org/W2785634791","https://openalex.org/W2794309357","https://openalex.org/W2796405046","https://openalex.org/W2803214667","https://openalex.org/W2809822040","https://openalex.org/W2889470209","https://openalex.org/W2897510327","https://openalex.org/W2898040335","https://openalex.org/W2908398950","https://openalex.org/W2941728977","https://openalex.org/W2946653342","https://openalex.org/W3103648783","https://openalex.org/W4230281812","https://openalex.org/W6653096202"],"related_works":["https://openalex.org/W2152170201","https://openalex.org/W4362721538","https://openalex.org/W2419244604","https://openalex.org/W4388953196","https://openalex.org/W2026800000","https://openalex.org/W2026394380","https://openalex.org/W3140899564","https://openalex.org/W3017942934","https://openalex.org/W2324498748","https://openalex.org/W2050082793"],"abstract_inverted_index":{"The":[0,248],"sideslip":[1,29,59,227,274],"angle":[2,30,60,172,228,275],"and":[3,15,31,44,61,64,71,86,98,107,112,150,197,214,229,245,259,268],"attitude":[4,32,62,230],"are":[5,101,119],"crucial":[6],"for":[7,11],"automated":[8,26],"driving":[9],"especially":[10],"chassis":[12],"integrated":[13,102],"control":[14],"environmental":[16],"perception.":[17],"In":[18,190],"this":[19],"article":[20],"an":[21],"inertial":[22,92],"measurement":[23,93],"unit":[24],"(IMU)-based":[25],"vehicle":[27,69,77],"body":[28],"estimation":[33,125,173,231,253,270],"method":[34,55,139,232],"aided":[35,186],"by":[36,180,187,220,235],"low-sample-rate":[37],"global":[38],"navigation":[39,105],"satellite":[40],"system":[41],"(GNSS)":[42],"velocity":[43,97,258,261],"position":[45,99],"measurements":[46],"using":[47],"parallel":[48,122],"adaptive":[49,124],"Kalman":[50,127,184],"filters":[51,128],"is":[52,65,129,157,178,199,218,233,262,276],"proposed.":[53],"This":[54],"can":[56],"estimate":[57,132],"the":[58,68,76,84,90,95,104,108,116,133,137,142,145,154,160,165,170,175,195,205,211,215,226,252,256,269,273],"simultaneously":[63],"robust":[66],"against":[67],"parameters":[70],"road":[72],"friction":[73],"even":[74],"as":[75],"enters":[78],"critical":[79,241],"maneuvers.":[80,247],"First,":[81],"based":[82,203],"on":[83,204],"acceleration":[85],"angular":[87],"rate":[88,149],"from":[89],"six-dimensional":[91],"unit,":[94],"attitude,":[96],"(AVP)":[100],"with":[103],"coordinates":[106],"AVP":[109,134,155,161],"error":[110,135,156,177,254,271],"dynamics":[111],"observation":[113],"equations":[114],"of":[115,136,144,194,210,255,272],"integration":[117,138,162],"results":[118,249],"developed.":[120],"Second,":[121],"innovation":[123],"(IAE)-based":[126],"designed":[130],"to":[131,140,159,163],"address":[141],"issues":[143],"GNSS":[146,188,198,212],"low":[147],"sampled":[148],"abnormal":[151],"measurements.":[152],"Then":[153],"forwarded":[158],"compensate":[164],"accumulated":[166],"error.":[167],"To":[168],"improve":[169],"heading":[171,176],"accuracy,":[174],"estimated":[179],"a":[181,221,236],"decoupled":[182],"IAE-based":[183],"filter":[185],"heading.":[189],"addition,":[191],"time":[192],"synchronization":[193,217],"IMU":[196],"realized":[200],"through":[201],"hardware":[202],"pulse":[206],"per":[207],"second":[208],"signal":[209],"receiver":[213],"spatial":[216],"achieved":[219],"direct":[222],"compensation":[223],"method.":[224],"Lastly,":[225],"validated":[234],"comprehensive":[237],"experimental":[238],"test":[239],"including":[240],"double":[242],"lane":[243],"change":[244],"slalom":[246],"show":[250],"that":[251],"longitudinal":[257],"lateral":[260],"smaller":[263,277],"than":[264,278],"0.1":[265],"m/s":[266],"(1\u03c3),":[267],"0.15\u00b0":[279],"(1\u03c3).":[280]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":59},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}