{"id":"https://openalex.org/W4417470601","doi":"https://doi.org/10.1109/tvt.2025.3645785","title":"Towards Robust and Real-Time State Estimation: A Neural Kalman Filter Framework With Mamba Architecture","display_name":"Towards Robust and Real-Time State Estimation: A Neural Kalman Filter Framework With Mamba Architecture","publication_year":2025,"publication_date":"2025-12-18","ids":{"openalex":"https://openalex.org/W4417470601","doi":"https://doi.org/10.1109/tvt.2025.3645785"},"language":null,"primary_location":{"id":"doi:10.1109/tvt.2025.3645785","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3645785","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/A5085367190","display_name":"Jin Sun","orcid":"https://orcid.org/0009-0004-6998-8392"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Sun","raw_affiliation_strings":["School of Internet of Things, Nanjing University of Posts and Telecommunications, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-1074-8202","affiliations":[{"raw_affiliation_string":"School of Internet of Things, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072569964","display_name":"Jiacheng Shen","orcid":"https://orcid.org/0000-0001-8615-071X"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiacheng Shen","raw_affiliation_strings":["Portland Institute, Nanjing University of Posts and Telecommunications, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Portland Institute, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033234330","display_name":"Jinwu Tong","orcid":"https://orcid.org/0000-0002-7061-7677"},"institutions":[{"id":"https://openalex.org/I2799736854","display_name":"Nanjing Institute of Technology","ror":"https://ror.org/00n6txq60","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799736854"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinwu Tong","raw_affiliation_strings":["School of Applied Technology, Nanjing Institute of Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-7061-7677","affiliations":[{"raw_affiliation_string":"School of Applied Technology, Nanjing Institute of Technology, Nanjing, China","institution_ids":["https://openalex.org/I2799736854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102023748","display_name":"Tiantian Tang","orcid":"https://orcid.org/0000-0002-8596-1227"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiantian Tang","raw_affiliation_strings":["School of Internet of Things, Nanjing University of Posts and Telecommunications, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8596-1227","affiliations":[{"raw_affiliation_string":"School of Internet of Things, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063730642","display_name":"Yue Yin","orcid":"https://orcid.org/0000-0002-5001-9370"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yue Yin","raw_affiliation_strings":["Department of Information and Computer Science, Keio University, Minato, Japan","Department of Information and Computer Science, Keio University, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0009-0005-5685-0367","affiliations":[{"raw_affiliation_string":"Department of Information and Computer Science, Keio University, Minato, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Department of Information and Computer Science, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016337773","display_name":"Tomoaki Ohtsuki","orcid":"https://orcid.org/0000-0003-3961-1426"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoaki Ohtsuki","raw_affiliation_strings":["Department of Information and Computer Science, Keio University, Minato, Japan","Department of Information and Computer Science, Keio University, Yokohama, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3961-1426","affiliations":[{"raw_affiliation_string":"Department of Information and Computer Science, Keio University, Minato, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Department of Information and Computer Science, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027367677","display_name":"Guan Gui","orcid":"https://orcid.org/0000-0003-3888-2881"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guan Gui","raw_affiliation_strings":["College of Telecommunications and Information Engineering, Nanjing University of Posts and Telecommunications, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-3888-2881","affiliations":[{"raw_affiliation_string":"College of Telecommunications and Information Engineering, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20493424,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"75","issue":"6","first_page":"11545","last_page":"11557"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.43369999527931213,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.43369999527931213,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.3052999973297119,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.08640000224113464,"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/kalman-filter","display_name":"Kalman filter","score":0.7067000269889832},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.633899986743927},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.545799970626831},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5436999797821045},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5109999775886536},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.41449999809265137},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.4034999907016754},{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.39239999651908875}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7067000269889832},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.633899986743927},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.545799970626831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5457000136375427},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5436999797821045},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5109999775886536},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41749998927116394},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.41449999809265137},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.4034999907016754},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.39239999651908875},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.3840999901294708},{"id":"https://openalex.org/C90652560","wikidata":"https://www.wikidata.org/wiki/Q11091747","display_name":"Minimum mean square error","level":3,"score":0.35199999809265137},{"id":"https://openalex.org/C52918065","wikidata":"https://www.wikidata.org/wiki/Q230945","display_name":"State-space representation","level":2,"score":0.3434999883174896},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3278000056743622},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.32280001044273376},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.31839999556541443},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.3107999861240387},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3037000000476837},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29269999265670776},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2612000107765198}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3645785","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3645785","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/G3766218786","display_name":null,"funder_award_id":"62203231","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"rapid":[1],"advancement":[2],"of":[3,186,193,211,215],"intelligent":[4],"perception":[5],"systems":[6],"and":[7,23,34,47,73,167,189,213,235,260,268],"autonomous":[8,261],"navigation":[9,259],"technologies":[10],"imposes":[11],"increasingly":[12],"stringent":[13],"requirements":[14],"on":[15,135],"state":[16,55,83,96,104],"estimation":[17,84],"algorithms":[18],"regarding":[19],"modeling":[20,57,88],"capacity,":[21],"robustness,":[22],"real-time":[24,75,132,245],"performance.":[25],"While":[26],"traditional":[27],"Kalman":[28,164,172],"Filter":[29,165,173],"(KF)":[30],"demonstrates":[31],"computational":[32],"efficiency":[33],"mathematical":[35],"interpretability":[36],"for":[37,61,126,257],"linear":[38],"Gaussian":[39],"systems,":[40,262],"their":[41],"effectiveness":[42],"diminishes":[43],"in":[44,53,131,239],"nonlinear,":[45],"non-Gaussian,":[46],"non-stationary":[48],"dynamic":[49],"scenarios.":[50],"Recent":[51],"developments":[52],"neural":[54,98],"space":[56,97],"offer":[58],"new":[59],"perspectives":[60],"recursive":[62,90],"estimation,":[63],"yet":[64],"existing":[65],"approaches":[66],"suffer":[67],"from":[68],"structural":[69],"complexity,":[70],"training":[71],"difficulties,":[72],"inadequate":[74],"capability.":[76],"This":[77],"paper":[78],"presents":[79],"Mamba-KF,":[80],"a":[81,109,120,204,253],"novel":[82],"framework":[85],"integrating":[86],"deep":[87],"with":[89,181,203,247],"filtering.":[91],"Leveraging":[92],"the":[93,136,145,218,232],"cutting-edge":[94],"Mamba":[95],"network,":[99],"our":[100],"method":[101],"dynamically":[102],"generates":[103],"transition":[105],"parameters":[106],"while":[107,263],"establishing":[108],"differentiable":[110],"covariance":[111],"propagation":[112],"pathway,":[113],"enabling":[114],"end-to-end":[115],"optimization.":[116],"We":[117],"further":[118],"design":[119],"lightweight":[121],"multi-modal":[122],"fusion":[123],"architecture":[124],"tailored":[125],"high-frequency":[127],"sensory":[128],"data":[129],"processing":[130],"applications.":[133,271],"Evaluated":[134],"EuRoC":[137],"Micro":[138],"Aerial":[139],"Vehicle":[140],"(MAV)":[141],"dataset,":[142],"Mamba-KF":[143,230],"attains":[144],"lowest":[146,233],"errors":[147],"across":[148],"states,":[149],"reducing":[150],"position":[151],"Root":[152],"Mean":[153],"Square":[154],"Error":[155,208],"(RMSE)":[156],"by":[157],"up":[158],"to":[159,162,170],"33.3%":[160],"relative":[161,169],"Extended":[163],"(EKF)":[166],"24.1%":[168],"Unscented":[171],"(UKF)":[174],"at":[175],"10":[176],"dB":[177],"Signal-to-Noise":[178],"Ratio":[179],"(SNR),":[180],"an":[182,190],"average":[183],"velocity":[184],"RMSE":[185],"0.097":[187],"m/s":[188],"orientation":[191],"error":[192],"<inline-formula":[194,219],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[195,220],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[196,221],"notation=\"LaTeX\">$2.3^\\circ$</tex-math></inline-formula>.":[197],"It":[198],"also":[199],"achieves":[200],"superior":[201],"consistency,":[202],"mean":[205],"Normalized":[206],"Estimation":[207],"Squared":[209],"(NEES)":[210],"6.02":[212],"93.7%":[214],"estimates":[216],"within":[217],"notation=\"LaTeX\">$\\chi":[222],"^{2}$</tex-math></inline-formula>-based":[223],"95%":[224],"confidence":[225],"interval.":[226],"Under":[227],"robustness":[228],"evaluations,":[229],"yields":[231],"RMSEs":[234],"suppresses":[236],"divergence":[237],"observed":[238],"EKF.":[240],"Computationally,":[241],"it":[242],"maintains":[243],"near":[244],"performance":[246],"0.65":[248],"ms":[249],"per":[250],"step,":[251],"offering":[252],"favorable":[254],"accuracy-efficiency":[255],"trade-off":[256],"visual-inertial":[258],"providing":[264],"significant":[265],"theoretical":[266],"insights":[267],"promising":[269],"engineering":[270]},"counts_by_year":[],"updated_date":"2026-06-23T06:36:01.041984","created_date":"2025-12-18T00:00:00"}