{"id":"https://openalex.org/W2588882499","doi":"https://doi.org/10.1109/mfi.2016.7849526","title":"An USBL-aided multisensor navigation system for field AUVs","display_name":"An USBL-aided multisensor navigation system for field AUVs","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2588882499","doi":"https://doi.org/10.1109/mfi.2016.7849526","mag":"2588882499"},"language":"en","primary_location":{"id":"doi:10.1109/mfi.2016.7849526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2016.7849526","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","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/A5004601128","display_name":"Eric Guerrero-Font","orcid":"https://orcid.org/0000-0002-4604-205X"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Eric Guerrero-Font","raw_affiliation_strings":["Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca (Spain)"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca (Spain)","institution_ids":["https://openalex.org/I50441567"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001921709","display_name":"Miquel Massot\u2010Campos","orcid":"https://orcid.org/0000-0002-1202-0362"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Miquel Massot-Campos","raw_affiliation_strings":["Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca (Spain)"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca (Spain)","institution_ids":["https://openalex.org/I50441567"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034435238","display_name":"Pep Llu\u00eds Negre","orcid":"https://orcid.org/0000-0002-6481-6338"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pep Lluis Negre","raw_affiliation_strings":["Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca (Spain)"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca (Spain)","institution_ids":["https://openalex.org/I50441567"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011783532","display_name":"Francisco Bonin\u2010Font","orcid":"https://orcid.org/0000-0003-1425-6907"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francisco Bonin-Font","raw_affiliation_strings":["Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca (Spain)"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca (Spain)","institution_ids":["https://openalex.org/I50441567"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005962857","display_name":"Gabriel Oliver","orcid":"https://orcid.org/0000-0001-6910-1940"},"institutions":[{"id":"https://openalex.org/I50441567","display_name":"Universitat de les Illes Balears","ror":"https://ror.org/03e10x626","country_code":"ES","type":"education","lineage":["https://openalex.org/I50441567"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Gabriel Oliver Codina","raw_affiliation_strings":["Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca (Spain)"],"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computer Science, University of the Balearic Islands, Palma de Mallorca (Spain)","institution_ids":["https://openalex.org/I50441567"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5004601128"],"corresponding_institution_ids":["https://openalex.org/I50441567"],"apc_list":null,"apc_paid":null,"fwci":4.0494,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.93314279,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"430","last_page":"435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.9991000294685364,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.730487585067749},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6237826943397522},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6064952611923218},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.575255274772644},{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.4583929777145386},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4531259536743164},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.40402719378471375},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3416033387184143},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3249109089374542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29349207878112793},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.1719035506248474},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07812362909317017}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.730487585067749},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6237826943397522},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6064952611923218},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.575255274772644},{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.4583929777145386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4531259536743164},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.40402719378471375},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3416033387184143},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3249109089374542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29349207878112793},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.1719035506248474},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07812362909317017},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mfi.2016.7849526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2016.7849526","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.soton.ac.uk:428788","is_oa":false,"landing_page_url":"https://eprints.soton.ac.uk/428788/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401019","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1645243482","https://openalex.org/W1989967481","https://openalex.org/W1993223711","https://openalex.org/W2071279196","https://openalex.org/W2105934661","https://openalex.org/W2121673609","https://openalex.org/W2134837751","https://openalex.org/W2170396296","https://openalex.org/W2296267969","https://openalex.org/W2901136733","https://openalex.org/W3103648783","https://openalex.org/W6636863190","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2038430283","https://openalex.org/W2952426663","https://openalex.org/W4309766231","https://openalex.org/W4205459552","https://openalex.org/W3005570398","https://openalex.org/W3005892436","https://openalex.org/W3044239796","https://openalex.org/W3001939774","https://openalex.org/W2356818805","https://openalex.org/W4236994605"],"abstract_inverted_index":{"This":[0,117],"paper":[1],"presents":[2],"the":[3,45,73,77,83,107,123,126,133,139,145,165,169,187,192,195,200,203,211],"integration":[4,167],"of":[5,36,125,132,164,202,210],"an":[6,28,49,207],"Ultra":[7,86],"Short":[8,87],"Base":[9,88],"Line":[10,89],"(USBL)":[11,90],"acoustic":[12],"modem":[13],"and":[14,62,66,82,156,179,199],"positioning":[15],"device":[16],"in":[17,168,175],"a":[18,37,54,59,63,67,100,141,176,182],"two-parallel":[19],"Extended":[20],"Kalman":[21],"Filter":[22],"(EKF)":[23],"multisensor":[24],"navigation":[25,115],"schema":[26],"for":[27],"Autonomous":[29],"Underwater":[30],"Vehicle":[31],"(AUV).":[32],"The":[33,93,130,162],"system":[34],"consists":[35],"first":[38,94,193],"odometric":[39],"EKF":[40,70],"position":[41,91,104,128],"estimator":[42],"fed":[43],"with":[44,76,186],"measurements":[46],"provided":[47,158],"by":[48,151,191],"Inertial":[50],"Measurement":[51],"Unit":[52],"(IMU),":[53],"Doppler":[55],"Velocity":[56],"Log":[57],"(DVL),":[58],"visual":[60],"tracker":[61],"pressure":[64],"sensor,":[65],"second":[68,134,204],"corrective":[69],"that":[71,110],"fuses":[72],"previous":[74],"sensors":[75,150],"Global":[78],"Positioning":[79],"System":[80],"(GPS)":[81],"corrected":[84],"delayed-state":[85],"data.":[92,116],"filter":[95,135],"is":[96,119,136],"aimed":[97],"to":[98,121,137,148,181],"compute":[99],"highly":[101],"reliable":[102],"vehicle":[103,140],"estimation":[105,118],"from":[106],"sensor":[108],"suit":[109],"produces":[111],"high":[112],"frequency":[113],"relative":[114],"essential":[120],"correct":[122],"delay":[124],"USBL":[127,166,196],"measurements.":[129],"objective":[131],"give":[138],"global":[142,170],"pose,":[143],"eliminating":[144],"drift":[146],"inherent":[147],"deadreckoning":[149],"integrating":[152],"absolute":[153],"positions":[154],"(GPS":[155],"USBL)":[157],"at":[159],"low":[160],"frequencies.":[161],"effects":[163],"localization":[171],"module":[172],"are":[173],"evaluated":[174],"simulated":[177],"environment,":[178],"compared":[180],"ground":[183],"truth":[184],"trajectory":[185,212],"pose":[188],"estimates":[189],"given":[190],"EKF,":[194,205],"raw":[197],"data":[198],"output":[201],"showing":[206],"effective":[208],"reduction":[209],"error.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}