{"id":"https://openalex.org/W2561154130","doi":"https://doi.org/10.1142/s2301385016500114","title":"Multi-Sensor Data Fusion for a Tethered Unmanned Helicopter Using a Square-Root Unscented Kalman Filter","display_name":"Multi-Sensor Data Fusion for a Tethered Unmanned Helicopter Using a Square-Root Unscented Kalman Filter","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2561154130","doi":"https://doi.org/10.1142/s2301385016500114","mag":"2561154130"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385016500114","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385016500114","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","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/A5016218425","display_name":"Luis A. Sandino","orcid":null},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis A. Sandino","raw_affiliation_strings":["GRVC, University of Seville, Seville, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRVC, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076581285","display_name":"Manuel B\u00e9jar","orcid":"https://orcid.org/0000-0003-0978-8773"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Manuel Bejar","raw_affiliation_strings":["GRVC, University Pablo de Olavide, Seville, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRVC, University Pablo de Olavide, Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108078580","display_name":"Konstantin Kondak","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Konstantin Kondak","raw_affiliation_strings":["German Aerospace Agency (DLR), Oberpfaffenhofen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Agency (DLR), Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057947815","display_name":"An\u0131\u0301bal Ollero","orcid":"https://orcid.org/0000-0003-2155-2472"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Anibal Ollero","raw_affiliation_strings":["GRVC, University of Seville, Seville, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRVC, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.16769428,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"04","issue":"04","first_page":"273","last_page":"287"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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/gyroscope","display_name":"Gyroscope","score":0.6927680373191833},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.6589271426200867},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6554975509643555},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6480170488357544},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6243568062782288},{"id":"https://openalex.org/keywords/gps/ins","display_name":"GPS/INS","score":0.5803782939910889},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5691549777984619},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5142862200737},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5067804455757141},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5004315376281738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47755369544029236},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.4695575535297394},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4511810541152954},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4191252291202545},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.41074612736701965},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35526010394096375},{"id":"https://openalex.org/keywords/assisted-gps","display_name":"Assisted GPS","score":0.22844162583351135},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2260650396347046},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2087073028087616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1823747754096985},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12350624799728394},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0736570656299591}],"concepts":[{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6927680373191833},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.6589271426200867},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6554975509643555},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6480170488357544},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6243568062782288},{"id":"https://openalex.org/C193183557","wikidata":"https://www.wikidata.org/wiki/Q195126","display_name":"GPS/INS","level":4,"score":0.5803782939910889},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5691549777984619},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5142862200737},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5067804455757141},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5004315376281738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47755369544029236},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4695575535297394},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4511810541152954},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4191252291202545},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.41074612736701965},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35526010394096375},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.22844162583351135},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2260650396347046},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2087073028087616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1823747754096985},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12350624799728394},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0736570656299591},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2301385016500114","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385016500114","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320336576","display_name":"Spanish National Plan for Scientific and Technical Research and Innovation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1999532877","https://openalex.org/W2040172940","https://openalex.org/W2048824795","https://openalex.org/W2076391700","https://openalex.org/W2078581401","https://openalex.org/W2137331970","https://openalex.org/W2312644716","https://openalex.org/W4250187135"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W4287084017","https://openalex.org/W3195533899","https://openalex.org/W3179745820","https://openalex.org/W3208523813","https://openalex.org/W2545638156","https://openalex.org/W2359095091","https://openalex.org/W4238176532","https://openalex.org/W2061166944","https://openalex.org/W2188647373"],"abstract_inverted_index":{"The":[0,182],"use":[1],"of":[2,26,67,138,147,177],"tethered":[3,31,180],"Unmanned":[4],"Aircraft":[5],"Systems":[6],"(UAS)":[7],"in":[8,171,187],"aerial":[9],"robotic":[10],"applications":[11],"is":[12,57,81,108,125,168,185],"a":[13,27,33,37,44,60,139,141],"relatively":[14],"unexplored":[15],"research":[16],"field.":[17],"This":[18],"work":[19],"addresses":[20],"the":[21,54,68,75,78,98,103,106,116,119,122,129,136,148,155,162,175,178],"attitude":[22],"and":[23,72,77,94,165],"position":[24,124,150,152,164],"estimation":[25,146],"small-size":[28],"unmanned":[29],"helicopter":[30,76,123],"to":[32,102,128,154,173],"moving":[34],"platform":[35,117],"using":[36,59,83],"multi-sensor":[38],"data":[39],"fusion":[40],"algorithm":[41],"based":[42],"on":[43,115],"numerically":[45],"efficient":[46],"sigma-point":[47],"Kalman":[48],"filter":[49,183],"implementation.":[50],"For":[51],"that":[52],"purpose,":[53],"state":[55],"prediction":[56],"performed":[58],"kinematic":[61],"process":[62],"model":[63],"driven":[64],"by":[65,111],"measurements":[66],"inertial":[69,156],"sensors":[70,87],"(accelerometer":[71],"gyroscope)":[73],"onboard":[74],"subsequent":[79],"correction":[80],"done":[82],"information":[84],"from":[85],"additional":[86],"like":[88],"magnetometer,":[89],"barometric":[90],"altimeter,":[91],"LIDAR":[92],"altimeter":[93],"magnetic":[95],"encoders":[96],"measuring":[97],"tether":[99,107],"orientation":[100],"relative":[101,127,153],"helicopter.":[104],"Assuming":[105],"kept":[109],"taut":[110],"an":[112],"actuated":[113],"device":[114],"during":[118],"system":[120],"operation,":[121],"estimated":[126],"anchor":[130],"point.":[131],"Although":[132],"this":[133],"configuration":[134],"avoids":[135],"need":[137],"GPS,":[140],"standard":[142],"operation":[143],"mode":[144],"for":[145],"absolute":[149],"(the":[151],"reference":[157],"frame)":[158],"incorporating":[159],"corrections":[160],"with":[161],"GPS":[163],"velocity":[166],"measurements,":[167],"also":[169],"implemented":[170],"order":[172],"highlight":[174],"benefits":[176],"proposed":[179],"setup.":[181],"performance":[184],"evaluated":[186],"simulations.":[188]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}