{"id":"https://openalex.org/W3196930002","doi":"https://doi.org/10.1109/tvt.2021.3108008","title":"Wheel-INS: A Wheel-Mounted MEMS IMU-Based Dead Reckoning System","display_name":"Wheel-INS: A Wheel-Mounted MEMS IMU-Based Dead Reckoning System","publication_year":2021,"publication_date":"2021-08-27","ids":{"openalex":"https://openalex.org/W3196930002","doi":"https://doi.org/10.1109/tvt.2021.3108008","mag":"3196930002"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2021.3108008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3108008","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/A5005541527","display_name":"Xiaoji Niu","orcid":"https://orcid.org/0000-0002-5591-0859"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaoji Niu","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035379036","display_name":"Yibin Wu","orcid":"https://orcid.org/0000-0001-6858-7803"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Wu","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089634475","display_name":"Jian Kuang","orcid":"https://orcid.org/0000-0002-7680-0632"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Kuang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5005541527"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":23.8112,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.99074507,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"70","issue":"10","first_page":"9814","last_page":"9825"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"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":0.9994999766349792,"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"}},{"id":"https://openalex.org/T14163","display_name":"Astronomical Observations and Instrumentation","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/odometer","display_name":"Odometer","score":0.9291059970855713},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.9018452763557434},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.8050320744514465},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.7555838227272034},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.611065149307251},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6001712083816528},{"id":"https://openalex.org/keywords/vibrating-structure-gyroscope","display_name":"Vibrating structure gyroscope","score":0.49810147285461426},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.48118144273757935},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45834940671920776},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3978029489517212},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38556283712387085},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.3695923388004303},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32365334033966064},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.24340248107910156},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.2430627942085266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23347723484039307},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12708637118339539},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06713709235191345}],"concepts":[{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.9291059970855713},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.9018452763557434},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.8050320744514465},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.7555838227272034},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.611065149307251},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6001712083816528},{"id":"https://openalex.org/C72768775","wikidata":"https://www.wikidata.org/wiki/Q844456","display_name":"Vibrating structure gyroscope","level":3,"score":0.49810147285461426},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.48118144273757935},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45834940671920776},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3978029489517212},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38556283712387085},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.3695923388004303},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32365334033966064},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.24340248107910156},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2430627942085266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23347723484039307},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12708637118339539},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06713709235191345},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2021.3108008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2021.3108008","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":[{"score":0.6600000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1039584133","https://openalex.org/W1484387568","https://openalex.org/W1493051473","https://openalex.org/W1500564636","https://openalex.org/W1559536185","https://openalex.org/W1579438189","https://openalex.org/W1607361043","https://openalex.org/W1966244759","https://openalex.org/W2027881769","https://openalex.org/W2048948174","https://openalex.org/W2144679888","https://openalex.org/W2150066425","https://openalex.org/W2160626949","https://openalex.org/W2165796786","https://openalex.org/W2168004776","https://openalex.org/W2171588121","https://openalex.org/W2217704886","https://openalex.org/W2332797954","https://openalex.org/W2345974524","https://openalex.org/W2625043143","https://openalex.org/W2791639158","https://openalex.org/W2946088198","https://openalex.org/W2949998269","https://openalex.org/W2984706170","https://openalex.org/W2990811426","https://openalex.org/W3029142183","https://openalex.org/W3087672182","https://openalex.org/W3099026630","https://openalex.org/W3105158588","https://openalex.org/W6626949613","https://openalex.org/W6689173367","https://openalex.org/W6770417310","https://openalex.org/W6770498264","https://openalex.org/W6783774005"],"related_works":["https://openalex.org/W2392875882","https://openalex.org/W3012295567","https://openalex.org/W4320019880","https://openalex.org/W2018733833","https://openalex.org/W2138812454","https://openalex.org/W3005570398","https://openalex.org/W2185308786","https://openalex.org/W2039007435","https://openalex.org/W3005892436","https://openalex.org/W2358256220"],"abstract_inverted_index":{"To":[0],"improve":[1],"the":[2,7,52,59,67,74,79,86,89,91,96,109,114,118,132,139,147,156,188],"accuracy":[3],"and":[4,117,180],"robustness":[5],"of":[6,48,54,82,88,95,108,136,146,167,175],"inertial":[8,36,97],"navigation":[9],"systems":[10],"(INS)":[11],"for":[12],"wheeled":[13],"robots":[14],"without":[15],"adding":[16],"additional":[17],"component":[18],"cost,":[19],"we":[20],"propose":[21],"Wheel-INS,":[22],"a":[23,31,55],"complete":[24],"dead":[25],"reckoning":[26],"(DR)":[27],"solution":[28],"based":[29],"on":[30],"wheel-mounted":[32,110],"microelectromechanical":[33],"system":[34,115],"(MEMS)":[35],"measurement":[37],"unit":[38],"(IMU)":[39],"in":[40,125,138],"this":[41,126],"article.":[42],"There":[43],"are":[44,122],"two":[45],"major":[46],"advantages":[47],"mounting":[49],"IMU":[50,112],"to":[51,65,72,77,102,155,171,187],"center":[53],"non-steering":[56],"wheel.":[57],"Firstly,":[58],"gyroscope":[60],"outputs":[61],"can":[62,99],"be":[63,100],"used":[64],"calculate":[66],"wheel":[68],"speed,":[69],"so":[70],"as":[71],"replace":[73],"traditional":[75],"odometer":[76],"mitigate":[78],"error":[80,94,120,174],"drift":[81,135],"INS.":[83],"Secondly,":[84],"with":[85],"rotation":[87],"wheel,":[90],"constant":[92,172],"bias":[93,173],"sensor":[98],"canceled":[101],"some":[103],"extent.":[104],"The":[105,177],"installation":[106],"scheme":[107],"MEMS":[111],"(Wheel-IMU),":[113],"characteristics,":[116],"DR":[119],"analysis":[121],"all":[123],"discussed":[124],"paper.":[127],"Experimental":[128],"results":[129],"show":[130],"that":[131],"maximum":[133],"position":[134],"Wheel-INS":[137,163],"horizontal":[140],"plane":[141],"is":[142],"less":[143],"than":[144],"1.8%":[145],"total":[148],"traveled":[149],"distance,":[150],"reduced":[151],"by":[152],"23%":[153],"compared":[154],"conventional":[157],"odometer-aided":[158],"INS":[159],"(ODO/INS).":[160],"In":[161],"addition,":[162],"outperforms":[164],"ODO/INS":[165],"because":[166],"its":[168],"inherent":[169],"immunity":[170],"gyroscopes.":[176],"source":[178],"code":[179],"experimental":[181],"datasets":[182],"have":[183],"been":[184],"made":[185],"available":[186],"community":[189],"(":[190],"<uri":[191],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[192],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/i2Nav-WHU/Wheel-INS</uri>":[193],").":[194]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}
