{"id":"https://openalex.org/W4294811490","doi":"https://doi.org/10.1109/tvt.2022.3204651","title":"Virtual Beam Aided SINS/DVL Tightly Coupled Integration Method With Partial DVL Measurements","display_name":"Virtual Beam Aided SINS/DVL Tightly Coupled Integration Method With Partial DVL Measurements","publication_year":2022,"publication_date":"2022-09-06","ids":{"openalex":"https://openalex.org/W4294811490","doi":"https://doi.org/10.1109/tvt.2022.3204651"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2022.3204651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2022.3204651","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/A5051964287","display_name":"Yiqing Yao","orcid":"https://orcid.org/0000-0001-5721-7129"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiqing Yao","raw_affiliation_strings":["Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-5721-7129","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074503050","display_name":"Xiang Xu","orcid":"https://orcid.org/0000-0002-8312-3350"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Xu","raw_affiliation_strings":["Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","School of Automation, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8312-3350","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074042000","display_name":"Xiaosu Xu","orcid":"https://orcid.org/0000-0002-5165-0981"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaosu Xu","raw_affiliation_strings":["Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","School of Automation, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-5165-0981","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Automation, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012718881","display_name":"Itzik Klein","orcid":"https://orcid.org/0000-0001-7846-0654"},"institutions":[{"id":"https://openalex.org/I91203450","display_name":"University of Haifa","ror":"https://ror.org/02f009v59","country_code":"IL","type":"education","lineage":["https://openalex.org/I91203450"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Itzik Klein","raw_affiliation_strings":["Hatter Department of Marine Technology, University of Haifa, Israel"],"raw_orcid":"https://orcid.org/0000-0001-7846-0654","affiliations":[{"raw_affiliation_string":"Hatter Department of Marine Technology, University of Haifa, Israel","institution_ids":["https://openalex.org/I91203450"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":20.353,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.99078147,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"72","issue":"1","first_page":"418","last_page":"427"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991999864578247,"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":0.9991999864578247,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9972000122070312,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9968000054359436,"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/inertial-navigation-system","display_name":"Inertial navigation system","score":0.617999255657196},{"id":"https://openalex.org/keywords/beam","display_name":"Beam (structure)","score":0.545374870300293},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5035647749900818},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.49336591362953186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43556997179985046},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4353908598423004},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4281397759914398},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3339606523513794},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2789592742919922},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23198458552360535},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.22437909245491028},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.1838795244693756}],"concepts":[{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.617999255657196},{"id":"https://openalex.org/C168834538","wikidata":"https://www.wikidata.org/wiki/Q3705329","display_name":"Beam (structure)","level":2,"score":0.545374870300293},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5035647749900818},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.49336591362953186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43556997179985046},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4353908598423004},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4281397759914398},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3339606523513794},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2789592742919922},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23198458552360535},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.22437909245491028},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.1838795244693756},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2022.3204651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2022.3204651","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":"Affordable and clean energy","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4544080955","display_name":null,"funder_award_id":"619210004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4641187247","display_name":null,"funder_award_id":"BK20190344","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G5297487181","display_name":null,"funder_award_id":"62003085","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6503844564","display_name":null,"funder_award_id":"2242021R41185","funder_id":"https://openalex.org/F4320324856","funder_display_name":"Southeast University"},{"id":"https://openalex.org/G8088130645","display_name":null,"funder_award_id":"62073080","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"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324856","display_name":"Southeast University","ror":"https://ror.org/04ct4d772"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1486476160","https://openalex.org/W1978996791","https://openalex.org/W2063139194","https://openalex.org/W2100600017","https://openalex.org/W2108905276","https://openalex.org/W2267281579","https://openalex.org/W2531768534","https://openalex.org/W2587647538","https://openalex.org/W2589658453","https://openalex.org/W2751613606","https://openalex.org/W2793200802","https://openalex.org/W2802267618","https://openalex.org/W2886668792","https://openalex.org/W2897832238","https://openalex.org/W2915794727","https://openalex.org/W2945354639","https://openalex.org/W2958793919","https://openalex.org/W2989921246","https://openalex.org/W2999032021","https://openalex.org/W2999441121","https://openalex.org/W3001529749","https://openalex.org/W3043650800","https://openalex.org/W3044068006","https://openalex.org/W3080231150","https://openalex.org/W3161549093","https://openalex.org/W3165559098","https://openalex.org/W3171339365","https://openalex.org/W3184618845","https://openalex.org/W3197302491","https://openalex.org/W3216545212"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W2560201613","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2353265673","https://openalex.org/W2152662039"],"abstract_inverted_index":{"Strapdown":[0],"inertial":[1],"navigation":[2,38],"system":[3,48],"(SINS)/":[4],"Doppler":[5],"velocity":[6,83,90],"log":[7],"(DVL)":[8],"tightly":[9],"coupled":[10],"(TC)":[11],"fusion":[12],"is":[13,131],"a":[14,81,88,112],"popular":[15],"scheme":[16,130],"as":[17],"it":[18],"offers":[19],"increased":[20],"robustness":[21],"compared":[22],"to":[23,97,104],"other":[24],"approaches.":[25],"In":[26],"TC,":[27],"DVL":[28,53,77],"beam":[29,54,57,78,95,121,157,162],"velocities":[30],"are":[31,60],"separately":[32],"integrated":[33],"with":[34,125],"SINS":[35],"in":[36,49],"the":[37,42,72,76,100,106,136,141,150,153],"filter.":[39],"To":[40,67],"enhance":[41],"performance":[43],"of":[44,51,109,140,152],"SINS/DVL":[45,127],"TC":[46,101,128],"integration":[47,129],"situations":[50],"partial":[52,161],"measurements,":[55],"virtual":[56,94,120,156],"aided":[58,93,119,143,155],"solutions":[59],"proposed,":[61],"theoretically":[62],"derived,":[63],"and":[64,80,86,138,148],"experimentally":[65],"evaluated.":[66],"that":[68],"end,":[69],"we":[70],"analyze":[71],"geometrical":[73],"relation":[74],"between":[75],"configuration":[79],"zero":[82,89],"vector":[84,116],"assumption":[85],"derive":[87],"update":[91],"(ZUPT)":[92],"method":[96],"continuously":[98],"operate":[99],"fusion.":[102],"Further,":[103],"avoid":[105],"precondition":[107],"limitation":[108],"ZUPT":[110,142],"method,":[111],"least":[113],"squares":[114],"support":[115],"machine":[117],"(LS-SVM)":[118],"construction":[122],"algorithm":[123],"together":[124],"its":[126],"proposed.":[132],"Our":[133],"experiments":[134],"show":[135],"advantages":[137],"disadvantages":[139],"solution":[144,158],"under":[145],"different":[146],"scenarios,":[147],"indicate":[149],"effectiveness":[151],"LS-SVM":[154],"during":[159],"short":[160],"measurement":[163],"periods.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}