{"id":"https://openalex.org/W1999808987","doi":"https://doi.org/10.1109/urai.2013.6677320","title":"Enhanced outdoor localization of multi-GPS/INS fusion system using Mahalanobis Distance","display_name":"Enhanced outdoor localization of multi-GPS/INS fusion system using Mahalanobis Distance","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W1999808987","doi":"https://doi.org/10.1109/urai.2013.6677320","mag":"1999808987"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2013.6677320","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2013.6677320","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-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/A5103283549","display_name":"Yun-Ki Kim","orcid":"https://orcid.org/0000-0002-0714-298X"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yun-Ki Kim","raw_affiliation_strings":["Department of Electrical Engineering, Pusan National University, Busan, Korea","Dept. of Electr. Eng., Pusan Nat. Univ., Busan, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Pusan National University, Busan, Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Pusan Nat. Univ., Busan, South Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088210858","display_name":"Seung-Hwan Choi","orcid":"https://orcid.org/0000-0003-1898-9884"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung-Hwan Choi","raw_affiliation_strings":["Interdisciplinary Program in Robotics, Pusan National University, Busan, Korea","Interdiscipl. Program in Robot., Pusan Nat. Univ., Busan, South Korea"],"affiliations":[{"raw_affiliation_string":"Interdisciplinary Program in Robotics, Pusan National University, Busan, Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"Interdiscipl. Program in Robot., Pusan Nat. Univ., Busan, South Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103106188","display_name":"Jang-Myung Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jang-Myung Lee","raw_affiliation_strings":["Department of Electrical Engineering, Pusan National University, Busan, Korea","Dept. of Electr. Eng., Pusan Nat. Univ., Busan, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Pusan National University, Busan, Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Pusan Nat. Univ., Busan, South Korea","institution_ids":["https://openalex.org/I4921948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103283549"],"corresponding_institution_ids":["https://openalex.org/I4921948"],"apc_list":null,"apc_paid":null,"fwci":0.8664,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.80399545,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"4","issue":null,"first_page":"488","last_page":"492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9983000159263611,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9983000159263611,"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/global-positioning-system","display_name":"Global Positioning System","score":0.8929022550582886},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7989579439163208},{"id":"https://openalex.org/keywords/mahalanobis-distance","display_name":"Mahalanobis distance","score":0.7406044006347656},{"id":"https://openalex.org/keywords/gps/ins","display_name":"GPS/INS","score":0.705571711063385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6779305934906006},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5610330104827881},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49194905161857605},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4654309153556824},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4497872292995453},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4222133457660675},{"id":"https://openalex.org/keywords/assisted-gps","display_name":"Assisted GPS","score":0.41851890087127686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4176541566848755},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3491289019584656},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.2236662209033966},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15994080901145935},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.0800246000289917}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.8929022550582886},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7989579439163208},{"id":"https://openalex.org/C1921717","wikidata":"https://www.wikidata.org/wiki/Q1334846","display_name":"Mahalanobis distance","level":2,"score":0.7406044006347656},{"id":"https://openalex.org/C193183557","wikidata":"https://www.wikidata.org/wiki/Q195126","display_name":"GPS/INS","level":4,"score":0.705571711063385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6779305934906006},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5610330104827881},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49194905161857605},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4654309153556824},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4497872292995453},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4222133457660675},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.41851890087127686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4176541566848755},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3491289019584656},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2236662209033966},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15994080901145935},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0800246000289917},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2013.6677320","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2013.6677320","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1964790032","https://openalex.org/W1984618143","https://openalex.org/W2044777519","https://openalex.org/W2055527997","https://openalex.org/W2063154802","https://openalex.org/W2086110849","https://openalex.org/W2098045167","https://openalex.org/W2128630381","https://openalex.org/W2138055360","https://openalex.org/W2147977859","https://openalex.org/W2149438799","https://openalex.org/W2164368049","https://openalex.org/W2284235502","https://openalex.org/W6672093943","https://openalex.org/W6681493621"],"related_works":["https://openalex.org/W2030440043","https://openalex.org/W1910463446","https://openalex.org/W4313886815","https://openalex.org/W1494447669","https://openalex.org/W2182125867","https://openalex.org/W2119957445","https://openalex.org/W2038183074","https://openalex.org/W2123903576","https://openalex.org/W1488594857","https://openalex.org/W2393570003"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,36,83],"implementation":[4],"of":[5,20,35,46,75],"system":[6,10,40],"estimating":[7],"outdoor":[8],"position":[9,47,90,97],"with":[11,73],"three":[12,21,52],"GPS":[13,23,53,87],"and":[14,39,54,88,92],"one":[15,55],"IMU":[16,56],"sensor.":[17],"The":[18,33],"accuracy":[19],"low-cost":[22],"which":[24],"have":[25],"large":[26],"instantaneous":[27],"error":[28],"are":[29,65],"supplemented":[30],"by":[31,50],"using":[32],"center":[34],"triangular":[37],"method":[38],"that":[41],"has":[42],"more":[43,69],"accurate":[44],"estimation":[45,98],"is":[48],"designed":[49],"combining":[51],"sensor":[57],"through":[58],"EKF.":[59],"And":[60],"also":[61],"data":[62,71],"values":[63,72],"overflowed":[64],"eliminated":[66],"to":[67],"gain":[68],"precise":[70],"utilization":[74],"Mahalanobis":[76],"Distance.":[77],"Through":[78],"experiment,":[79],"it":[80],"can":[81,100],"verify":[82],"results":[84,99],"compared":[85],"single":[86],"multi-GPS":[89],"error,":[91],"then":[93],"calibrated":[94],"mobile":[95],"robot":[96],"be":[101],"found.":[102]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}