{"id":"https://openalex.org/W4387145961","doi":"https://doi.org/10.1109/tvt.2023.3316612","title":"Enhanced Land Vehicle Positioning in Challenging GNSS Urban Environments Utilizing Automotive Radars","display_name":"Enhanced Land Vehicle Positioning in Challenging GNSS Urban Environments Utilizing Automotive Radars","publication_year":2023,"publication_date":"2023-09-28","ids":{"openalex":"https://openalex.org/W4387145961","doi":"https://doi.org/10.1109/tvt.2023.3316612"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2023.3316612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3316612","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/A5026726238","display_name":"Marwan A. Rashed","orcid":null},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Marwan A. Rashed","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Queen&#x0027;s University, Kingston, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Queen&#x0027;s University, Kingston, ON, Canada","institution_ids":["https://openalex.org/I204722609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076701613","display_name":"Haidy Elghamrawy","orcid":"https://orcid.org/0000-0002-7238-4985"},"institutions":[{"id":"https://openalex.org/I51768193","display_name":"Royal Military College of Canada","ror":"https://ror.org/04yr71909","country_code":"CA","type":"education","lineage":["https://openalex.org/I51768193"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Haidy Elghamrawy","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-7238-4985","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada","institution_ids":["https://openalex.org/I51768193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014571148","display_name":"Mohamed Elhabiby","orcid":"https://orcid.org/0000-0002-1909-7506"},"institutions":[{"id":"https://openalex.org/I107720978","display_name":"Ain Shams University","ror":"https://ror.org/00cb9w016","country_code":"EG","type":"education","lineage":["https://openalex.org/I107720978"]}],"countries":["EG"],"is_corresponding":false,"raw_author_name":"Mohamed Elhabiby","raw_affiliation_strings":["Faculty of Engineering, Ain Shams University, Cairo, Egypt"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Ain Shams University, Cairo, Egypt","institution_ids":["https://openalex.org/I107720978"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035191057","display_name":"Michael J. Korenberg","orcid":"https://orcid.org/0000-0002-8119-1296"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michael J. Korenberg","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Queen&#x0027;s University, Kingston, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-8119-1296","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Queen&#x0027;s University, Kingston, ON, Canada","institution_ids":["https://openalex.org/I204722609"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091253792","display_name":"Aboelmagd Noureldin","orcid":"https://orcid.org/0000-0001-6614-7783"},"institutions":[{"id":"https://openalex.org/I204722609","display_name":"Queen's University","ror":"https://ror.org/02y72wh86","country_code":"CA","type":"education","lineage":["https://openalex.org/I204722609"]},{"id":"https://openalex.org/I51768193","display_name":"Royal Military College of Canada","ror":"https://ror.org/04yr71909","country_code":"CA","type":"education","lineage":["https://openalex.org/I51768193"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Aboelmagd Noureldin","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada","School of Computing, Queen's University, Kingston, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-6614-7783","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada","institution_ids":["https://openalex.org/I51768193"]},{"raw_affiliation_string":"School of Computing, Queen's University, Kingston, ON, Canada","institution_ids":["https://openalex.org/I204722609"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7036,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.84544853,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"73","issue":"2","first_page":"1637","last_page":"1651"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"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":0.9998999834060669,"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/T10655","display_name":"GNSS positioning and interference","score":0.9987000226974487,"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":0.9983999729156494,"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/gnss-applications","display_name":"GNSS applications","score":0.8404331207275391},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5646363496780396},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5281367897987366},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.520213782787323},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.5188202261924744},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4421504735946655},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4309432804584503},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4290669858455658},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4060102701187134},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39763641357421875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.22350311279296875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20432734489440918},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1801050901412964},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1504715383052826}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8404331207275391},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5646363496780396},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5281367897987366},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.520213782787323},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.5188202261924744},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4421504735946655},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4309432804584503},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4290669858455658},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4060102701187134},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39763641357421875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.22350311279296875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20432734489440918},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1801050901412964},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1504715383052826},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2023.3316612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3316612","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":[{"display_name":"Sustainable cities and communities","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5986929652","display_name":null,"funder_award_id":"ALLRP-560898-20","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W157162768","https://openalex.org/W1969266341","https://openalex.org/W1969479488","https://openalex.org/W1986864914","https://openalex.org/W2000018820","https://openalex.org/W2015442982","https://openalex.org/W2024548552","https://openalex.org/W2044115878","https://openalex.org/W2068820155","https://openalex.org/W2072033671","https://openalex.org/W2079299474","https://openalex.org/W2085261163","https://openalex.org/W2102664783","https://openalex.org/W2124707714","https://openalex.org/W2130878831","https://openalex.org/W2135621383","https://openalex.org/W2158662637","https://openalex.org/W2342437324","https://openalex.org/W2461927550","https://openalex.org/W2507412359","https://openalex.org/W2517637050","https://openalex.org/W2540173637","https://openalex.org/W2548979061","https://openalex.org/W2566680697","https://openalex.org/W2566918566","https://openalex.org/W2595506995","https://openalex.org/W2742562184","https://openalex.org/W2750840446","https://openalex.org/W2762987602","https://openalex.org/W2805452940","https://openalex.org/W2860417883","https://openalex.org/W2888595202","https://openalex.org/W2890714858","https://openalex.org/W2903808759","https://openalex.org/W2906396375","https://openalex.org/W2915822538","https://openalex.org/W2945760909","https://openalex.org/W2945856812","https://openalex.org/W2969150231","https://openalex.org/W2980115311","https://openalex.org/W3010798980","https://openalex.org/W3044216439","https://openalex.org/W3047375952","https://openalex.org/W3096314512","https://openalex.org/W3129292774"],"related_works":["https://openalex.org/W2052432379","https://openalex.org/W3117915744","https://openalex.org/W768388283","https://openalex.org/W3106489079","https://openalex.org/W3130617165","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2103761320","https://openalex.org/W2358167375","https://openalex.org/W1573859018"],"abstract_inverted_index":{"Positioning":[0],"services":[1],"for":[2,50,74,96],"land":[3,75,94],"vehicle":[4,128],"navigation":[5,11],"have":[6],"long":[7],"relied":[8],"on":[9,131,141],"global":[10],"satellite":[12],"systems":[13],"(GNSS);":[14],"however,":[15],"GNSS":[16,62,80,159],"cannot":[17,55],"maintain":[18],"an":[19,86],"accurate":[20,152],"position":[21,129],"while":[22],"travelling":[23],"under":[24,30],"bridges,":[25],"around":[26],"tall":[27],"buildings":[28],"and":[29,85,148,157],"tree":[31],"canopies":[32],"due":[33],"to":[34,113,125,150],"signal":[35],"blockage":[36],"or":[37],"multipath.":[38],"Integration":[39,135],"with":[40,136],"the":[41,47,68,115,127,132,193],"onboard":[42,82,137],"motion":[43,83,138],"sensors":[44,139],"can":[45],"bridge":[46],"positioning":[48,58,72,153,164],"solution":[49,165],"a":[51,79,121],"short":[52],"duration":[53],"but":[54],"sustain":[56],"adequate":[57],"performance":[59],"during":[60],"extended":[61],"outages.":[63],"The":[64,161],"proposed":[65,162],"research":[66],"overcomes":[67],"limitations":[69],"of":[70,192],"current":[71],"technologies":[73],"vehicles":[76,95],"by":[77],"integrating":[78],"receiver,":[81],"sensors,":[84],"electronic":[87],"scanning":[88],"radar":[89,122,133],"(ESR)":[90],"used":[91],"in":[92,154,173,177],"present":[93],"adaptive":[97],"cruise":[98],"control.":[99],"A":[100],"new":[101],"ESR-based":[102],"static":[103],"object":[104],"detection":[105],"method":[106,124],"is":[107,146,166],"developed":[108],"using":[109,168],"newly":[110],"designed":[111,147],"criteria":[112],"estimate":[114],"forward":[116],"velocity.":[117],"We":[118],"also":[119],"propose":[120],"odometry":[123],"obtain":[126],"based":[130,140],"scans.":[134],"Extended":[142],"Kalman":[143],"filtering":[144],"(EKF)":[145],"realized":[149],"achieve":[151],"degraded":[155],"vision":[156],"challenging":[158,174],"environments.":[160],"multi-sensor":[163],"examined":[167],"several":[169],"road":[170],"test":[171],"trajectories":[172],"urban":[175],"environments":[176],"Toronto.":[178],"It":[179],"shows":[180],"RMS":[181],"error":[182],"as":[183,185],"low":[184],"3":[186],"m":[187],"over":[188],"more":[189],"than":[190],"90%":[191],"traveled":[194],"distance.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}
