{"id":"https://openalex.org/W4401635000","doi":"https://doi.org/10.1109/tvt.2024.3443870","title":"A Factor Graph Optimization-Based In-Motion Alignment Method for INS/DVL Integration","display_name":"A Factor Graph Optimization-Based In-Motion Alignment Method for INS/DVL Integration","publication_year":2024,"publication_date":"2024-08-16","ids":{"openalex":"https://openalex.org/W4401635000","doi":"https://doi.org/10.1109/tvt.2024.3443870"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2024.3443870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3443870","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/A5011345517","display_name":"Liang Zhang","orcid":"https://orcid.org/0000-0002-8134-2752"},"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":"Liang Zhang","raw_affiliation_strings":["School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","School of Instrument Science and Engineering, the Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8134-2752","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, 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 Instrument Science and Engineering, the 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":null,"display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0001-9955-3905"},"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":"Tao Zhang","raw_affiliation_strings":["School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","School of Instrument Science and Engineering, the Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9955-3905","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, 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 Instrument Science and Engineering, the 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":"last","author":{"id":"https://openalex.org/A5029928323","display_name":"Hongyu Wei","orcid":"https://orcid.org/0000-0003-3117-0400"},"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":"Hongyu Wei","raw_affiliation_strings":["School of Instrument Science and Engineering, Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","School of Instrument Science and Engineering, the Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-3117-0400","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Engineering, 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 Instrument Science and Engineering, the Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":1.7308,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.84696204,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"73","issue":"12","first_page":"18452","last_page":"18459"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11429","display_name":"Semiconductor Lasers and Optical Devices","score":0.9523000121116638,"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/T11429","display_name":"Semiconductor Lasers and Optical Devices","score":0.9523000121116638,"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/T11517","display_name":"Advanced optical system design","score":0.944599986076355,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9117000102996826,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/factor-graph","display_name":"Factor graph","score":0.5169329047203064},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47741711139678955},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23362219333648682}],"concepts":[{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.5169329047203064},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47741711139678955},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23362219333648682},{"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.2024.3443870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2024.3443870","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/G2447091141","display_name":null,"funder_award_id":"52301395","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5828059848","display_name":null,"funder_award_id":"2242024K30005","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G895020238","display_name":"\u57fa\u4e8e\u6c34\u4e0b\u590d\u6742\u73af\u5883\u4e0b\u5355\u58f0\u6e90\u4fe1\u6807\u8f85\u52a9\u60ef\u6027\u5bfc\u822a\u88ab\u52a8\u5b9a\u4f4d\u6280\u672f\u7814\u7a76","funder_award_id":"52071080","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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2026244040","https://openalex.org/W2141932890","https://openalex.org/W2395202693","https://openalex.org/W2482726005","https://openalex.org/W2531768534","https://openalex.org/W2793225041","https://openalex.org/W2794254435","https://openalex.org/W2802267618","https://openalex.org/W2945354639","https://openalex.org/W3008229407","https://openalex.org/W3010919627","https://openalex.org/W3011396298","https://openalex.org/W3046016151","https://openalex.org/W3131326783","https://openalex.org/W3161549093","https://openalex.org/W3164521861","https://openalex.org/W3173753247","https://openalex.org/W3194145151","https://openalex.org/W3201684605","https://openalex.org/W3208282341","https://openalex.org/W4285048569","https://openalex.org/W4285144169","https://openalex.org/W4288062035","https://openalex.org/W4290716830","https://openalex.org/W4296704496","https://openalex.org/W4312336651","https://openalex.org/W4319459298","https://openalex.org/W4375928784","https://openalex.org/W4385489752","https://openalex.org/W4387609197","https://openalex.org/W4389887871"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W162456724","https://openalex.org/W4396696052","https://openalex.org/W2382290278"],"abstract_inverted_index":{"An":[0,123],"accurate":[1],"initial":[2,29,95],"attitude":[3,96],"is":[4,37,72,88,91,114,129,168,172,190],"of":[5,11,27,54,98,144,176],"great":[6,201],"importance":[7],"for":[8,94],"the":[9,17,28,50,55,59,75,83,117,133,145,153,158,177,183,187,192],"integration":[10],"Doppler":[12],"velocity":[13],"log":[14],"(DVL)":[15],"and":[16,25,45,52,62,120,141,160,180],"strapdown":[18,101],"inertial":[19,102],"navigation":[20,103],"system":[21],"(SINS).":[22],"The":[23,35],"speed":[24,51,167],"accuracy":[26,189],"alignment":[30,44,60,70,97,155,166,179,188,198],"are":[31],"two":[32,41],"important":[33],"indicators.":[34],"process":[36],"usually":[38],"divided":[39],"into":[40],"stages,":[42],"coarse":[43,178],"fine":[46],"alignment,":[47],"to":[48,131,138,152,174],"ensure":[49],"precision":[53,100],"alignment.":[56],"To":[57],"simplify":[58],"steps":[61],"improve":[63],"accuracy,":[64],"a":[65,106],"factor":[66,80,119],"graph":[67,112],"optimization(FGO)-based":[68],"in-motion":[69],"method":[71,128,199],"proposed":[73],"in":[74,204],"paper.":[76],"First,":[77],"an":[78],"IMU":[79,118],"based":[81,110],"on":[82,111],"exact":[84],"preintegration":[85],"measurement":[86],"model":[87,113],"proposed,":[89],"which":[90],"especially":[92],"suitable":[93],"high":[99],"system.":[104],"Second,":[105],"nonlinear":[107,134],"optimization":[108,135,143],"problem":[109],"constructed":[115],"with":[116],"DVL":[121],"factor.":[122],"incremental":[124],"fixed":[125],"lag":[126],"smoothing":[127],"adopted":[130],"solve":[132],"problem.":[136],"Due":[137],"multiple":[139],"iterations":[140],"batch":[142],"historical":[146],"data,":[147],"it":[148],"can":[149],"be":[150],"superior":[151],"traditional":[154],"method.":[156,185],"Both":[157],"simulation":[159],"field":[161],"tests":[162],"show":[163],"that":[164,175,196],"FGO-based":[165,197],"fast":[169],"enough.":[170],"It":[171,194],"comparable":[173],"faster":[181],"than":[182],"filter-based":[184],"Besides,":[186],"still":[191],"highest.":[193],"confirmed":[195],"has":[200],"application":[202],"potential":[203],"INS/DVL":[205],"integration.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}