{"id":"https://openalex.org/W4388543730","doi":"https://doi.org/10.1109/tvt.2023.3331587","title":"An Optimization-Based Tightly-Coupled Integration of PPP, INS and Vision for Precise and Continuous Navigation","display_name":"An Optimization-Based Tightly-Coupled Integration of PPP, INS and Vision for Precise and Continuous Navigation","publication_year":2023,"publication_date":"2023-11-09","ids":{"openalex":"https://openalex.org/W4388543730","doi":"https://doi.org/10.1109/tvt.2023.3331587"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2023.3331587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3331587","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/A5100661809","display_name":"Xingxing Li","orcid":"https://orcid.org/0000-0002-0283-4151"},"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":"Xingxing Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-0283-4151","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040609312","display_name":"Hanyu Chang","orcid":"https://orcid.org/0009-0005-7474-1957"},"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":"Hanyu Chang","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0005-7474-1957","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065169238","display_name":"Xuanbin Wang","orcid":"https://orcid.org/0009-0004-0849-556X"},"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":"Xuanbin Wang","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0004-0849-556X","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053326378","display_name":"Shengyu Li","orcid":"https://orcid.org/0000-0003-4014-2524"},"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":"Shengyu Li","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-4014-2524","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018496820","display_name":"Yuxuan Zhou","orcid":"https://orcid.org/0000-0002-5261-0009"},"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":"Yuxuan Zhou","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-5261-0009","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100655977","display_name":"Hui Yu","orcid":"https://orcid.org/0009-0004-0969-5459"},"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":"Hui Yu","raw_affiliation_strings":["School of Geodesy and Geomatics, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0004-0969-5459","affiliations":[{"raw_affiliation_string":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":1.2472,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.78020378,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"73","issue":"4","first_page":"4934","last_page":"4948"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9984999895095825,"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/pseudorange","display_name":"Pseudorange","score":0.8831173181533813},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.8444483280181885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.616072952747345},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5670037865638733},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5505094528198242},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.536354660987854},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5331857204437256},{"id":"https://openalex.org/keywords/precise-point-positioning","display_name":"Precise Point Positioning","score":0.5026283264160156},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.4917290508747101},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.46170005202293396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.376853346824646},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.13400942087173462},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11002156138420105},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10314396023750305}],"concepts":[{"id":"https://openalex.org/C174201072","wikidata":"https://www.wikidata.org/wiki/Q1187347","display_name":"Pseudorange","level":4,"score":0.8831173181533813},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8444483280181885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.616072952747345},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5670037865638733},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5505094528198242},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.536354660987854},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5331857204437256},{"id":"https://openalex.org/C202511199","wikidata":"https://www.wikidata.org/wiki/Q7239503","display_name":"Precise Point Positioning","level":4,"score":0.5026283264160156},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.4917290508747101},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.46170005202293396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.376853346824646},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.13400942087173462},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11002156138420105},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10314396023750305},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2023.3331587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3331587","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":[],"awards":[{"id":"https://openalex.org/G8151963073","display_name":null,"funder_award_id":"41974027","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1966244759","https://openalex.org/W1971760893","https://openalex.org/W1994967943","https://openalex.org/W1995684967","https://openalex.org/W2028303631","https://openalex.org/W2028372850","https://openalex.org/W2094280389","https://openalex.org/W2118382509","https://openalex.org/W2120108758","https://openalex.org/W2126653976","https://openalex.org/W2127752689","https://openalex.org/W2128615445","https://openalex.org/W2130103520","https://openalex.org/W2291985881","https://openalex.org/W2294233959","https://openalex.org/W2349597558","https://openalex.org/W2482726005","https://openalex.org/W2745859992","https://openalex.org/W2792006036","https://openalex.org/W2796417323","https://openalex.org/W2892629832","https://openalex.org/W2904543104","https://openalex.org/W2922457702","https://openalex.org/W2963577308","https://openalex.org/W2963813675","https://openalex.org/W3043971245","https://openalex.org/W3087672182","https://openalex.org/W3091459796","https://openalex.org/W3091667825","https://openalex.org/W3108666777","https://openalex.org/W3125449081","https://openalex.org/W3127089228","https://openalex.org/W3128400661","https://openalex.org/W3138764046","https://openalex.org/W3201684605","https://openalex.org/W3206631491","https://openalex.org/W3216414561","https://openalex.org/W4221156665","https://openalex.org/W4246483956","https://openalex.org/W4285194770","https://openalex.org/W4285813037","https://openalex.org/W4313449032","https://openalex.org/W4394659040","https://openalex.org/W6631989691","https://openalex.org/W6677548441","https://openalex.org/W6696728990","https://openalex.org/W6728232973","https://openalex.org/W6783774005","https://openalex.org/W6810211731","https://openalex.org/W6864527971"],"related_works":["https://openalex.org/W2383458065","https://openalex.org/W1797442270","https://openalex.org/W4390779571","https://openalex.org/W2391372050","https://openalex.org/W2376350480","https://openalex.org/W2393041500","https://openalex.org/W1987287733","https://openalex.org/W1551846473","https://openalex.org/W2316508992","https://openalex.org/W2987438225"],"abstract_inverted_index":{"Nowadays,":[0],"with":[1],"the":[2,32,67,70,99,136,153,157],"rapid":[3],"development":[4],"of":[5,34,102,156],"mobile":[6],"robotics":[7],"and":[8,19,62,74,83,118,130,141],"self-driving":[9],"technology,":[10],"there":[11],"is":[12,24,124,166],"a":[13,27,90,111],"growing":[14],"demand":[15],"for":[16,26],"high-accuracy,":[17],"dependable":[18],"seamless":[20],"navigation.":[21],"However,":[22],"it":[23],"unrealistic":[25],"single-sensor-based":[28],"technique":[29],"to":[30,59,126,151,168],"meet":[31],"requirements":[33],"practical":[35],"applications":[36],"in":[37,89,108,174],"increasingly":[38],"complex":[39],"environments.":[40,176],"To":[41,96],"address":[42],"this":[43],"problem,":[44],"we":[45],"propose":[46],"an":[47],"optimization-based":[48],"tightly-coupled":[49],"precise":[50,61],"point":[51],"positioning":[52],"(PPP)/inertial":[53],"navigation":[54,154,173],"system":[55],"(INS)/Vision":[56],"integration":[57,165],"method":[58],"achieve":[60,170],"continuous":[63],"state":[64],"estimation.":[65],"In":[66],"proposed":[68,158],"approach,":[69],"raw":[71],"GNSS":[72,104,146],"pseudorange":[73],"carrier":[75,105,120,132],"phase":[76,106,121,133],"observations,":[77],"inertial":[78],"measurement":[79],"unit":[80],"(IMU)":[81],"data":[82],"visual":[84],"features":[85],"are":[86,149],"tightly":[87],"fused":[88],"factor":[91],"graph":[92],"optimization":[93],"(FGO)":[94],"framework.":[95],"fully":[97],"explore":[98],"accuracy":[100],"potential":[101],"high-precision":[103],"observations":[107,134],"real":[109],"scenarios,":[110],"mixed":[112],"model":[113],"which":[114],"combines":[115],"ionosphere-free":[116],"(IF)":[117],"time-differenced":[119],"(TDCP)":[122],"formulations":[123],"utilized":[125],"integrate":[127],"both":[128],"single-":[129],"dual-frequency":[131],"into":[135],"system.":[137],"Both":[138],"public":[139],"dataset":[140],"real-world":[142],"experiments":[143],"covering":[144],"different":[145],"availability":[147],"conditions":[148],"conducted":[150],"evaluate":[152],"performance":[155],"algorithm.":[159],"Results":[160],"indicate":[161],"that":[162],"our":[163],"PPP/INS/Vision":[164],"able":[167],"stably":[169],"sub-meter":[171],"level":[172],"GNSS-hostile":[175]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
