{"id":"https://openalex.org/W4293254176","doi":"https://doi.org/10.1109/lra.2022.3175600","title":"Variable Observability Constrained Visual-Inertial-GNSS EKF-Based Navigation","display_name":"Variable Observability Constrained Visual-Inertial-GNSS EKF-Based Navigation","publication_year":2022,"publication_date":"2022-05-20","ids":{"openalex":"https://openalex.org/W4293254176","doi":"https://doi.org/10.1109/lra.2022.3175600"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3175600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3175600","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","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/A5101784149","display_name":"Changwu Liu","orcid":"https://orcid.org/0000-0002-6151-1707"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changwu Liu","raw_affiliation_strings":["School of Aerospace Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6151-1707","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101712199","display_name":"Chen Jiang","orcid":"https://orcid.org/0000-0001-5204-8733"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Jiang","raw_affiliation_strings":["School of Aerospace Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5204-8733","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089513020","display_name":"Haowen Wang","orcid":"https://orcid.org/0000-0001-5767-8742"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haowen Wang","raw_affiliation_strings":["School of Aerospace Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5767-8742","affiliations":[{"raw_affiliation_string":"School of Aerospace Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":11.2872,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.97776716,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"6677","last_page":"6684"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"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":0.9945999979972839,"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":0.987500011920929,"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":0.826677680015564},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.7051132321357727},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.6970195174217224},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6585030555725098},{"id":"https://openalex.org/keywords/gnss-augmentation","display_name":"GNSS augmentation","score":0.5974338054656982},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5325537919998169},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.529628574848175},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5209561586380005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4832078218460083},{"id":"https://openalex.org/keywords/air-navigation","display_name":"Air navigation","score":0.45892882347106934},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.44793638586997986},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.41066163778305054},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.24608474969863892},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19449719786643982},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09592065215110779},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.071828693151474}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.826677680015564},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.7051132321357727},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.6970195174217224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6585030555725098},{"id":"https://openalex.org/C166212672","wikidata":"https://www.wikidata.org/wiki/Q2165162","display_name":"GNSS augmentation","level":4,"score":0.5974338054656982},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5325537919998169},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.529628574848175},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5209561586380005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4832078218460083},{"id":"https://openalex.org/C504623915","wikidata":"https://www.wikidata.org/wiki/Q1427822","display_name":"Air navigation","level":3,"score":0.45892882347106934},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.44793638586997986},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.41066163778305054},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.24608474969863892},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19449719786643982},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09592065215110779},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.071828693151474},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3175600","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3175600","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1486754293","https://openalex.org/W1551364771","https://openalex.org/W1974678436","https://openalex.org/W1990987766","https://openalex.org/W2025007236","https://openalex.org/W2051349034","https://openalex.org/W2058160370","https://openalex.org/W2060242247","https://openalex.org/W2069459553","https://openalex.org/W2072986918","https://openalex.org/W2118223742","https://openalex.org/W2158090912","https://openalex.org/W2165978301","https://openalex.org/W2569720095","https://openalex.org/W2592781794","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2792006036","https://openalex.org/W2922457702","https://openalex.org/W2962987986","https://openalex.org/W2963235919","https://openalex.org/W2968489055","https://openalex.org/W3004276482","https://openalex.org/W3091667825","https://openalex.org/W3108666777","https://openalex.org/W3127089228","https://openalex.org/W3131244788","https://openalex.org/W3138764046","https://openalex.org/W3162561493","https://openalex.org/W3200820839","https://openalex.org/W3205249702","https://openalex.org/W3205297214","https://openalex.org/W3206631491","https://openalex.org/W4243100138","https://openalex.org/W6677548441"],"related_works":["https://openalex.org/W4385694759","https://openalex.org/W2377546559","https://openalex.org/W2081898571","https://openalex.org/W3006218776","https://openalex.org/W2383905737","https://openalex.org/W4309965711","https://openalex.org/W2333648656","https://openalex.org/W3043399618","https://openalex.org/W3205095229","https://openalex.org/W2294850404"],"abstract_inverted_index":{"Visual-Inertial":[0],"Odometry":[1],"(VIO)":[2],"is":[3,51,68,96,112,160,167],"an":[4],"approach":[5],"to":[6,43,70,86,162],"give":[7],"high-accuracy":[8],"pose":[9],"estimation":[10],"in":[11,32,190],"GNSS(Global":[12],"Navigation":[13],"Satellite":[14],"System)-denied":[15],"environments.":[16],"However,":[17],"visual-inertial":[18],"navigation":[19],"slowly":[20],"drifts":[21],"on":[22,169],"its":[23],"four":[24],"unobservable":[25,122],"directions,":[26],"namely":[27],"the":[28,33,48,84,92,103,108,117,129,133,138,146,174],"translations":[29],"and":[30,38,74,107,114,126,137,154,178],"yaw":[31],"world":[34,49,105],"frame.":[35],"The":[36,180],"visual":[37],"inertial":[39,73],"sensors":[40,175],"are":[41],"unable":[42],"provide":[44],"information":[45,89],"about":[46],"how":[47],"frame":[50,106,111],"aligned":[52],"with":[53,193],"global":[54,109],"geographic":[55,110],"coordinates.":[56],"In":[57],"this":[58],"letter,":[59],"g-MSCKF,":[60],"a":[61,155],"Multi-State":[62],"Constraint":[63],"Kalman":[64],"Filter":[65],"based":[66],"approach,":[67],"developed":[69],"combine":[71],"visual,":[72],"GNSS":[75,79,88],"raw":[76,80],"measurements.":[77],"With":[78],"measurements,":[81],"g-MSCKF":[82],"has":[83],"ability":[85],"use":[87],"even":[90],"when":[91,128],"number":[93,130],"of":[94,131,145,196],"satellites":[95],"below":[97],"4.":[98],"An":[99],"alignment":[100],"filter":[101],"between":[102],"local":[104],"proposed":[113],"serves":[115],"as":[116],"initializer":[118],"for":[119],"g-MSCKF.":[120],"Furthermore,":[121],"directions":[123],"may":[124,148],"exist":[125],"vary":[127],"satellites,":[132],"satellite-receiver":[134],"spatial":[135],"geometry":[136],"receiver":[139],"motion":[140],"follow":[141],"specific":[142],"patterns.":[143],"Inconsistency":[144],"estimator":[147],"happen":[149],"under":[150],"those":[151],"variable-unobservable":[152],"circumstances":[153],"variable":[156],"observability":[157],"constrained":[158],"method":[159],"provided":[161],"avoid":[163],"inconsistency.":[164],"Our":[165],"algorithm":[166],"evaluated":[168],"real-world":[170],"open":[171],"datasets":[172],"where":[173],"traverse":[176],"indoors":[177],"outdoors.":[179],"results":[181],"show":[182],"that":[183],"our":[184],"solution":[185],"gives":[186],"globally":[187],"smooth":[188],"trajectories":[189],"GNSS-intermittent":[191],"situations":[192],"full":[194],"exploitation":[195],"sensor":[197],"potentials.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}