{"id":"https://openalex.org/W4411232671","doi":"https://doi.org/10.1109/plans61210.2025.11028350","title":"Tightly-Coupled Wi-Fi/LiDAR/Inertial Integration via Factor Graph Optimization for UAS","display_name":"Tightly-Coupled Wi-Fi/LiDAR/Inertial Integration via Factor Graph Optimization for UAS","publication_year":2025,"publication_date":"2025-04-28","ids":{"openalex":"https://openalex.org/W4411232671","doi":"https://doi.org/10.1109/plans61210.2025.11028350"},"language":"en","primary_location":{"id":"doi:10.1109/plans61210.2025.11028350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/plans61210.2025.11028350","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)","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/A5101580328","display_name":"Ruijie Xu","orcid":"https://orcid.org/0009-0000-0221-9768"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ruijie Xu","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020673866","display_name":"Xikun Liu","orcid":"https://orcid.org/0000-0003-2618-1172"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xikun Liu","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045072801","display_name":"Weisong Wen","orcid":"https://orcid.org/0000-0003-1834-121X"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Weisong Wen","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Aeronautical and Aviation Engineering,China","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09736557,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"648","last_page":"653"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9937000274658203,"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/lidar","display_name":"Lidar","score":0.6767634153366089},{"id":"https://openalex.org/keywords/factor-graph","display_name":"Factor graph","score":0.66696697473526},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6305920481681824},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4305889904499054},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.414631724357605},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.2867056727409363},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.17808538675308228},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16245684027671814},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1403348445892334},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.11716461181640625}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6767634153366089},{"id":"https://openalex.org/C159246509","wikidata":"https://www.wikidata.org/wiki/Q5428725","display_name":"Factor graph","level":3,"score":0.66696697473526},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6305920481681824},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4305889904499054},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.414631724357605},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.2867056727409363},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.17808538675308228},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16245684027671814},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1403348445892334},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.11716461181640625},{"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/C57273362","wikidata":"https://www.wikidata.org/wiki/Q576722","display_name":"Decoding methods","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/plans61210.2025.11028350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/plans61210.2025.11028350","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W132318879","https://openalex.org/W1927744280","https://openalex.org/W2296228853","https://openalex.org/W2482726005","https://openalex.org/W2745859992","https://openalex.org/W2909908358","https://openalex.org/W2977982730","https://openalex.org/W2992647966","https://openalex.org/W3035431318","https://openalex.org/W3120412245","https://openalex.org/W3125449081","https://openalex.org/W3129245057","https://openalex.org/W3164521861","https://openalex.org/W3175761519","https://openalex.org/W3197181155","https://openalex.org/W3200651243","https://openalex.org/W4366378397","https://openalex.org/W4380048502","https://openalex.org/W4387609197","https://openalex.org/W4389372489","https://openalex.org/W4391423850","https://openalex.org/W4392902299","https://openalex.org/W4401990912","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020"],"abstract_inverted_index":{"The":[0,124],"widespread":[1],"deployment":[2],"of":[3,66,171,189,198],"Unmanned":[4],"Autonomous":[5],"Systems":[6],"(UAS)":[7],"across":[8,206],"smart":[9],"cities":[10],"has":[11],"intensified":[12],"the":[13,106],"demand":[14],"for":[15,95],"reliable":[16],"and":[17,32,50,114,142,154,174,191,193,200],"high-precision":[18],"indoor":[19,97,153],"positioning":[20,30],"solutions.":[21],"While":[22],"Wi-Fi":[23,87],"Round-Trip-Time":[24],"(RTT)":[25],"technology":[26],"offers":[27],"promising":[28],"absolute":[29],"capabilities":[31],"LiDAR-inertial":[33,195],"odometry":[34,196],"(LIO)":[35],"provides":[36],"accurate":[37],"relative":[38],"positioning,":[39],"both":[40,138,151,182],"face":[41],"inherent":[42],"limitations":[43],"-":[44],"RTT":[45,116,139,183],"suffers":[46],"from":[47],"signal":[48],"interference":[49],"processing":[51],"delays,":[52],"while":[53,202],"LIO":[54,143],"accumulates":[55],"drift":[56,144],"over":[57,181],"time.":[58],"Although":[59],"existing":[60],"methods":[61],"have":[62],"explored":[63],"loose":[64],"coupling":[65],"these":[67],"technologies,":[68],"they":[69],"process":[70,130],"sensor":[71],"data":[72],"independently,":[73],"failing":[74],"to":[75,135],"fully":[76],"exploit":[77],"their":[78],"complementary":[79],"strengths.":[80],"This":[81],"paper":[82],"presents":[83],"a":[84,120,127],"novel":[85],"tightly-coupled":[86],"RTT/LiDAR/Inertial":[88],"integration":[89],"framework":[90,160],"using":[91],"factor":[92],"graph":[93],"optimization":[94,122,129],"robust":[96],"positioning.":[98],"Our":[99],"approach":[100],"implements":[101],"comprehensive":[102],"multi-sensor":[103],"fusion":[104],"at":[105],"raw":[107],"measurement":[108,140,184],"level,":[109],"incorporating":[110],"scan-to-multiscan":[111],"LiDAR":[112],"factors":[113,118],"innovative":[115],"range":[117],"within":[119],"unified":[121],"framework.":[123],"system":[125],"employs":[126],"two-stage":[128],"with":[131],"progressive":[132],"iteration":[133],"schemes":[134],"effectively":[136],"handle":[137],"outliers":[141],"accumulation.":[145],"Through":[146],"extensive":[147],"experimental":[148],"evaluations":[149],"in":[150],"controlled":[152],"challenging":[155],"outdoor":[156],"environments,":[157],"our":[158],"proposed":[159],"demonstrates":[161],"superior":[162],"performance":[163],"by":[164],"achieving":[165],"root":[166],"mean":[167],"square":[168,186],"errors":[169],"(RMSE)":[170],"0.76":[172],"meters":[173,176],"2.09":[175],"respectively,":[177],"representing":[178],"substantial":[179],"improvements":[180],"least":[185],"result":[187],"(reductions":[188],"63.5%":[190],"29.2%)":[192],"traditional":[194],"(improvements":[197],"22.4%":[199],"54.1%),":[201],"maintaining":[203],"consistent":[204],"accuracy":[205],"different":[207],"operational":[208],"scenarios.":[209]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
