{"id":"https://openalex.org/W4409426542","doi":"https://doi.org/10.1109/tvt.2025.3560363","title":"A Voting-Based Robust Estimator Aided by INS Redundancy for Tightly Coupled GNSS/INS Integration in Urban Environment","display_name":"A Voting-Based Robust Estimator Aided by INS Redundancy for Tightly Coupled GNSS/INS Integration in Urban Environment","publication_year":2025,"publication_date":"2025-04-14","ids":{"openalex":"https://openalex.org/W4409426542","doi":"https://doi.org/10.1109/tvt.2025.3560363"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3560363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3560363","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/A5064361442","display_name":"Yingying Jiang","orcid":"https://orcid.org/0000-0003-3122-208X"},"institutions":[{"id":"https://openalex.org/I4210154111","display_name":"Universit\u00e9 Gustave Eiffel","ror":"https://ror.org/03x42jk29","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154111"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yingying Jiang","raw_affiliation_strings":["GEOLOC Laboratory, AME Department of the Gustave Eiffel University, Bouguenais, France","GEOLOC laboratory, AME department of the Gustave Eiffel University, Bouguenais, France"],"raw_orcid":"https://orcid.org/0000-0003-3122-208X","affiliations":[{"raw_affiliation_string":"GEOLOC Laboratory, AME Department of the Gustave Eiffel University, Bouguenais, France","institution_ids":["https://openalex.org/I4210154111"]},{"raw_affiliation_string":"GEOLOC laboratory, AME department of the Gustave Eiffel University, Bouguenais, France","institution_ids":["https://openalex.org/I4210154111"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066837990","display_name":"Ni Zhu","orcid":"https://orcid.org/0000-0003-4033-3558"},"institutions":[{"id":"https://openalex.org/I4210154111","display_name":"Universit\u00e9 Gustave Eiffel","ror":"https://ror.org/03x42jk29","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154111"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ni Zhu","raw_affiliation_strings":["GEOLOC Laboratory, AME Department of the Gustave Eiffel University, Bouguenais, France","GEOLOC laboratory, AME department of the Gustave Eiffel University, Bouguenais, France"],"raw_orcid":"https://orcid.org/0000-0003-4033-3558","affiliations":[{"raw_affiliation_string":"GEOLOC Laboratory, AME Department of the Gustave Eiffel University, Bouguenais, France","institution_ids":["https://openalex.org/I4210154111"]},{"raw_affiliation_string":"GEOLOC laboratory, AME department of the Gustave Eiffel University, Bouguenais, France","institution_ids":["https://openalex.org/I4210154111"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076239667","display_name":"Val\u00e9rie Renaudin","orcid":"https://orcid.org/0000-0003-4535-5406"},"institutions":[{"id":"https://openalex.org/I4210154111","display_name":"Universit\u00e9 Gustave Eiffel","ror":"https://ror.org/03x42jk29","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154111"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Valerie Renaudin","raw_affiliation_strings":["GEOLOC Laboratory, AME Department of the Gustave Eiffel University, Bouguenais, France","GEOLOC laboratory, AME department of the Gustave Eiffel University, Bouguenais, France"],"raw_orcid":"https://orcid.org/0000-0003-4535-5406","affiliations":[{"raw_affiliation_string":"GEOLOC Laboratory, AME Department of the Gustave Eiffel University, Bouguenais, France","institution_ids":["https://openalex.org/I4210154111"]},{"raw_affiliation_string":"GEOLOC laboratory, AME department of the Gustave Eiffel University, Bouguenais, France","institution_ids":["https://openalex.org/I4210154111"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6056,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.83033268,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"74","issue":"9","first_page":"13430","last_page":"13445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9957000017166138,"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":0.9957000017166138,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.989300012588501,"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/T10655","display_name":"GNSS positioning and interference","score":0.9883999824523926,"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/gnss-applications","display_name":"GNSS applications","score":0.8506213426589966},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6472377181053162},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6049343943595886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5473173260688782},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5075582265853882},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4739760756492615},{"id":"https://openalex.org/keywords/voting","display_name":"Voting","score":0.47257769107818604},{"id":"https://openalex.org/keywords/pseudorange","display_name":"Pseudorange","score":0.427789568901062},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.19986379146575928},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18216124176979065},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13565564155578613}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8506213426589966},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6472377181053162},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6049343943595886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5473173260688782},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5075582265853882},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4739760756492615},{"id":"https://openalex.org/C520049643","wikidata":"https://www.wikidata.org/wiki/Q189760","display_name":"Voting","level":3,"score":0.47257769107818604},{"id":"https://openalex.org/C174201072","wikidata":"https://www.wikidata.org/wiki/Q1187347","display_name":"Pseudorange","level":4,"score":0.427789568901062},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.19986379146575928},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18216124176979065},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13565564155578613},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvt.2025.3560363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3560363","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"},{"id":"pmh:oai:HAL:hal-05044806v1","is_oa":false,"landing_page_url":"https://hal.science/hal-05044806","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ieeexplore.ieee.org/abstract/document/10964142/","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1973131250","https://openalex.org/W1973293707","https://openalex.org/W1973762452","https://openalex.org/W1994967943","https://openalex.org/W2001964734","https://openalex.org/W2024373600","https://openalex.org/W2026702887","https://openalex.org/W2050035217","https://openalex.org/W2056531629","https://openalex.org/W2071518995","https://openalex.org/W2097545679","https://openalex.org/W2098613164","https://openalex.org/W2162513948","https://openalex.org/W2195969555","https://openalex.org/W2409244668","https://openalex.org/W2773424079","https://openalex.org/W2781561575","https://openalex.org/W2806633139","https://openalex.org/W2916670347","https://openalex.org/W2982671175","https://openalex.org/W2995170636","https://openalex.org/W3011156601","https://openalex.org/W3041108756","https://openalex.org/W3087198456","https://openalex.org/W3094005463","https://openalex.org/W3110870077","https://openalex.org/W3128084050","https://openalex.org/W3164521861","https://openalex.org/W3168070935","https://openalex.org/W3171419071","https://openalex.org/W3205114100","https://openalex.org/W3205808861","https://openalex.org/W3214035964","https://openalex.org/W3214509695","https://openalex.org/W4206206997","https://openalex.org/W4206505615","https://openalex.org/W4225278380","https://openalex.org/W4226293621","https://openalex.org/W4296873425","https://openalex.org/W4310936193","https://openalex.org/W4313149100","https://openalex.org/W4327623192","https://openalex.org/W4327862217","https://openalex.org/W4382315079","https://openalex.org/W4387145961","https://openalex.org/W4389692425","https://openalex.org/W4390905808","https://openalex.org/W4400361410"],"related_works":["https://openalex.org/W3216386610","https://openalex.org/W4239395258","https://openalex.org/W2602888279","https://openalex.org/W3204981892","https://openalex.org/W4380563814","https://openalex.org/W3130617165","https://openalex.org/W2904557485","https://openalex.org/W3198415914","https://openalex.org/W2772082021","https://openalex.org/W4387760931"],"abstract_inverted_index":{"The":[0,90,175,192,212],"combination":[1],"of":[2,33,49,81,92,101,127,183,209,220,229],"Global":[3],"Navigation":[4,10],"Satellite":[5],"System":[6,11],"(GNSS)":[7],"and":[8,25,37,141,171,181,218,233],"Inertial":[9],"(INS)":[12],"is":[13,53,76,122,160,223],"widely":[14],"applied":[15],"for":[16,78,189],"many":[17],"ground":[18],"transportation":[19],"applications":[20],"thanks":[21],"to":[22,57,149],"its":[23],"accurate":[24,104],"continuous":[26],"navigation":[27],"service.":[28],"However,":[29],"with":[30,162,248],"the":[31,34,47,72,93,98,102,114,137,142,151,156,179,230,259],"advent":[32],"multipath":[35],"effect":[36],"non-line-of-sight":[38],"(NLOS)":[39],"signals":[40],"caused":[41,264],"by":[42,71,113,136,265],"obstacles":[43],"in":[44,107,205],"urban":[45,207,268],"environments,":[46],"quality":[48],"raw":[50],"GNSS":[51,110,153,185,262],"measurements":[52],"heavily":[54],"degraded,":[55],"leading":[56],"unexpected":[58],"integration":[59,203],"solutions.":[60,89],"For":[61],"this,":[62,148],"an":[63],"improved":[64],"voting-based":[65],"robust":[66],"estimator":[67],"(VBRE)":[68],"algorithm":[69,194,254],"assisted":[70],"INS-derived":[73,105],"measurement":[74,154,186],"redundancy,":[75],"proposed":[77,193,253],"reasonable":[79],"evaluation":[80],"satellite":[82,133],"observation":[83,95,134],"information,":[84],"ensuring":[85],"reliable":[86],"integrated":[87,190],"GNSS/INS":[88],"introduction":[91],"generalized":[94],"model":[96],"allows":[97],"direct":[99],"involvement":[100],"short-term":[103],"resolution":[106],"monitoring":[108],"faulty":[109],"measurements.":[111],"Inspired":[112],"voting":[115,173],"theory,":[116],"a":[117,125],"residual-based":[118],"collective":[119],"decision":[120],"framework":[121],"developed,":[123],"where":[124],"group":[126],"INS-associated":[128],"voters":[129],"evaluates":[130],"traversally":[131],"each":[132,184],"candidate":[135],"distance":[138],"measure":[139],"calculation":[140],"agreement":[143],"indicator":[144],"mapping.":[145],"Based":[146],"on":[147,198,243],"determine":[150],"final":[152],"contribution,":[155],"detailed":[157],"voter":[158],"implementation":[159],"formulated":[161],"key":[163],"steps":[164],"including":[165],"rejecting":[166],"abnormal":[167],"indicators,":[168],"median":[169],"voting,":[170],"multiple":[172],"cycles.":[174],"above":[176],"behaviors":[177],"facilitate":[178],"rationality":[180],"fairness":[182],"weight":[187],"allocation":[188],"navigation.":[191],"has":[195],"been":[196],"validated":[197],"two":[199],"challenging":[200,245],"open-source":[201],"vehicular":[202],"datasets":[204],"hybrid":[206],"areas":[208],"Tokyo,":[210],"Japan.":[211],"resultant":[213],"3D":[214],"accuracy":[215],"regarding":[216],"position":[217],"velocity":[219],"Dataset":[221,246],"I":[222],"around":[224],"60%":[225],"higher":[226],"than":[227],"that":[228],"Kalman":[231],"filter":[232],"outperforms":[234],"other":[235],"existing":[236],"methods.":[237],"Similar":[238],"performances":[239],"are":[240],"also":[241],"achieved":[242],"more":[244],"II,":[247],"improvement":[249],"reaching":[250],"80%.Meanwhile,":[251],"this":[252],"presents":[255],"remarkable":[256],"flexibility":[257],"against":[258],"various":[260],"abrupt":[261],"faults":[263],"different":[266],"harsh":[267],"areas.":[269]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
