{"id":"https://openalex.org/W4210370318","doi":"https://doi.org/10.1109/tvt.2022.3148133","title":"Model-Based Embedded Road Grade Estimation Using Quaternion Unscented Kalman Filter","display_name":"Model-Based Embedded Road Grade Estimation Using Quaternion Unscented Kalman Filter","publication_year":2022,"publication_date":"2022-02-04","ids":{"openalex":"https://openalex.org/W4210370318","doi":"https://doi.org/10.1109/tvt.2022.3148133"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2022.3148133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2022.3148133","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/A5023258152","display_name":"Erhang Li","orcid":"https://orcid.org/0000-0001-9055-8187"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Erhang Li","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9055-8187","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024424341","display_name":"Wenpei He","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I2800970254","display_name":"State Intellectual Property Office","ror":"https://ror.org/00zrjgm10","country_code":"CN","type":"government","lineage":["https://openalex.org/I2800970254"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenpei He","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","China National Intellectual Property Administration, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"China National Intellectual Property Administration, Beijing, China","institution_ids":["https://openalex.org/I2800970254"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061103543","display_name":"Huilong Yu","orcid":"https://orcid.org/0000-0003-4287-8332"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huilong Yu","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4287-8332","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102879296","display_name":"Junqiang Xi","orcid":"https://orcid.org/0000-0001-8607-4542"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junqiang Xi","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8607-4542","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.8405,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.97569116,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"71","issue":"4","first_page":"3704","last_page":"3714"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991000294685364,"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":0.9991000294685364,"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/carsim","display_name":"CarSim","score":0.9015892148017883},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7887697815895081},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7034742832183838},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6451238393783569},{"id":"https://openalex.org/keywords/axle","display_name":"Axle","score":0.5520657300949097},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5286477208137512},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.4923819303512573},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4687417149543762},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.46769002079963684},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.44180071353912354},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.42430320382118225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40300390124320984},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3973974883556366},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.2618078589439392},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12084826827049255}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.9015892148017883},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7887697815895081},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7034742832183838},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6451238393783569},{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.5520657300949097},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5286477208137512},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.4923819303512573},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4687417149543762},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.46769002079963684},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.44180071353912354},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.42430320382118225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40300390124320984},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3973974883556366},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2618078589439392},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12084826827049255},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2022.3148133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2022.3148133","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1446555399","https://openalex.org/W1628100432","https://openalex.org/W1971365964","https://openalex.org/W1990445066","https://openalex.org/W2003006740","https://openalex.org/W2012323234","https://openalex.org/W2057638127","https://openalex.org/W2070273599","https://openalex.org/W2079809336","https://openalex.org/W2110236710","https://openalex.org/W2110728483","https://openalex.org/W2128377715","https://openalex.org/W2131420149","https://openalex.org/W2145938889","https://openalex.org/W2147498262","https://openalex.org/W2157009781","https://openalex.org/W2199469138","https://openalex.org/W2295635672","https://openalex.org/W2351296027","https://openalex.org/W2474920831","https://openalex.org/W2480859604","https://openalex.org/W2493529707","https://openalex.org/W2581840716","https://openalex.org/W2767703107","https://openalex.org/W2783742538","https://openalex.org/W2786735182","https://openalex.org/W2973122232","https://openalex.org/W3035264612","https://openalex.org/W3103896707","https://openalex.org/W3112161408","https://openalex.org/W3120567100","https://openalex.org/W6681158678","https://openalex.org/W6721887335"],"related_works":["https://openalex.org/W2967933754","https://openalex.org/W4391217548","https://openalex.org/W2621132146","https://openalex.org/W2241127710","https://openalex.org/W2185409886","https://openalex.org/W2076935651","https://openalex.org/W2337289474","https://openalex.org/W1996466923","https://openalex.org/W2982521819","https://openalex.org/W2772596473"],"abstract_inverted_index":{"The":[0],"available":[1],"road":[2,29,39,106],"grade":[3,30,40,107],"information":[4],"makes":[5],"a":[6,36,44,59,97],"significant":[7],"impact":[8],"on":[9,161],"improving":[10],"the":[11,20,51,66,76,80,84,105,109,117,120,134,143,148,153],"quality":[12],"of":[13,27,79,87,119,127,137,147],"vehicle":[14,67],"control.":[15],"In":[16,82],"order":[17],"to":[18,74,103],"solve":[19],"limited":[21],"application":[22],"scenario":[23],"and":[24,55,65,113,129,145],"insufficient":[25],"accuracy":[26,146],"current":[28],"estimation":[31,41,138],"methods,":[32],"this":[33],"paper":[34],"presents":[35],"novel":[37],"model-based":[38],"approach.":[42],"First,":[43],"Quaternion":[45],"Unscented":[46],"Kalman":[47],"Filter":[48],"(QUKF)":[49],"using":[50],"three-axle":[52,56],"angular":[53],"velocities":[54],"accelerations":[57],"from":[58,69],"low-cost":[60],"Inertial":[61],"Measurement":[62],"Unit":[63],"(IMU)":[64],"speed":[68],"CAN":[70],"bus":[71],"is":[72,89,101,123,139],"designed":[73],"estimate":[75],"pitch":[77,111],"angle":[78,112],"vehicle.":[81],"particular,":[83],"measurement":[85],"noise":[86],"UKF":[88],"analyzed":[90],"by":[91,125],"integrating":[92],"Allan":[93],"variance":[94],"method.":[95],"Second,":[96],"simplified":[98],"vehicle-road":[99],"model":[100],"derived":[102],"represent":[104],"with":[108],"estimated":[110],"longitudinal":[114],"acceleration.":[115],"Then,":[116],"performance":[118],"proposed":[121,149],"algorithm":[122],"tested":[124],"co-simulation":[126],"MATLAB/Simulink":[128],"CarSim,":[130],"which":[131],"indicates":[132],"that":[133],"error":[135],"rate":[136],"within":[140],"4%.":[141],"Finally,":[142],"feasibility":[144],"method":[150],"implemented":[151],"in":[152,158],"embedded":[154],"prototype":[155],"are":[156],"verified":[157],"experiments":[159],"conducted":[160],"standard":[162],"slopes.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}