{"id":"https://openalex.org/W7117518418","doi":"https://doi.org/10.1145/3714394.3756276","title":"Tracing-KalmanNet: Deep Kalman Filtering for Nonlinear and Intermittent Inertial Data","display_name":"Tracing-KalmanNet: Deep Kalman Filtering for Nonlinear and Intermittent Inertial Data","publication_year":2025,"publication_date":"2025-10-12","ids":{"openalex":"https://openalex.org/W7117518418","doi":"https://doi.org/10.1145/3714394.3756276"},"language":null,"primary_location":{"id":"doi:10.1145/3714394.3756276","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3714394.3756276","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2025 ACM International Joint Conference on Pervasive and Ubiquitous Computing","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3714394.3756276","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5121453020","display_name":"Dapeng Li","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dapeng Li","raw_affiliation_strings":["School of Optics and Photonics, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2780-9155","affiliations":[{"raw_affiliation_string":"School of Optics and Photonics, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121477984","display_name":"Yu Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Yang","raw_affiliation_strings":["School of Electronics and Information Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-4071-3702","affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121474538","display_name":"Xiaoyuan Dong","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyuan Dong","raw_affiliation_strings":["School of Information and Electronics, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0003-5732-4866","affiliations":[{"raw_affiliation_string":"School of Information and Electronics, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121451159","display_name":"Md Al-Amin","orcid":null},"institutions":[{"id":"https://openalex.org/I165143802","display_name":"The University of Queensland","ror":"https://ror.org/00rqy9422","country_code":"AU","type":"education","lineage":["https://openalex.org/I165143802"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Md Al-Amin","raw_affiliation_strings":["School of Mechanical and Mining Engineering, The University of Queensland, Brisbane, Austria"],"raw_orcid":"https://orcid.org/0000-0001-5242-3193","affiliations":[{"raw_affiliation_string":"School of Mechanical and Mining Engineering, The University of Queensland, Brisbane, Austria","institution_ids":["https://openalex.org/I165143802"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078989686","display_name":"Shengyao Yang","orcid":"https://orcid.org/0000-0002-3821-0551"},"institutions":[{"id":"https://openalex.org/I4210095297","display_name":"MIT University","ror":"https://ror.org/00v140q16","country_code":"MK","type":"education","lineage":["https://openalex.org/I4210095297"]},{"id":"https://openalex.org/I82951845","display_name":"RMIT University","ror":"https://ror.org/04ttjf776","country_code":"AU","type":"education","lineage":["https://openalex.org/I82951845"]}],"countries":["AU","MK"],"is_corresponding":false,"raw_author_name":"Shengyao Yang","raw_affiliation_strings":["School of Science, STEM College, RMIT University, Melbourne, Austria"],"raw_orcid":"https://orcid.org/0000-0002-3821-0551","affiliations":[{"raw_affiliation_string":"School of Science, STEM College, RMIT University, Melbourne, Austria","institution_ids":["https://openalex.org/I4210095297","https://openalex.org/I82951845"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072074280","display_name":"Dezhi Zheng","orcid":"https://orcid.org/0000-0003-3998-5989"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dezhi Zheng","raw_affiliation_strings":["School of Interdisciplinary Science, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3998-5989","affiliations":[{"raw_affiliation_string":"School of Interdisciplinary Science, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1388","last_page":"1392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.004900000058114529,"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":0.0024999999441206455,"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/kalman-filter","display_name":"Kalman filter","score":0.7488999962806702},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6880000233650208},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6452999711036682},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5875999927520752},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5468000173568726},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5468000173568726},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5303999781608582},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.49480000138282776}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7488999962806702},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6880000233650208},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6452999711036682},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5878999829292297},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5875999927520752},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5468000173568726},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5468000173568726},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5303999781608582},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.49480000138282776},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.47209998965263367},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.43130001425743103},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.41929998993873596},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4074000120162964},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4056999981403351},{"id":"https://openalex.org/C137685913","wikidata":"https://www.wikidata.org/wiki/Q4316763","display_name":"Nonlinear filter","level":4,"score":0.4027999937534332},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.3504999876022339},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3402999937534332},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.3276999890804291},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3221000134944916},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2734000086784363},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26409998536109924},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26010000705718994},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3714394.3756276","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3714394.3756276","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2025 ACM International Joint Conference on Pervasive and Ubiquitous Computing","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3714394.3756276","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3714394.3756276","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2025 ACM International Joint Conference on Pervasive and Ubiquitous Computing","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2951507907","https://openalex.org/W3001529749","https://openalex.org/W3023108580","https://openalex.org/W3097247253","https://openalex.org/W3183282730","https://openalex.org/W4231109964","https://openalex.org/W4282830511","https://openalex.org/W4375929147","https://openalex.org/W4386987620","https://openalex.org/W4403649232","https://openalex.org/W4404802285"],"related_works":[],"abstract_inverted_index":{"Kalman":[0,61,120],"filters":[1],"are":[2],"fundamental":[3],"to":[4,16,102,107],"attitude":[5,134],"estimation":[6,135],"and":[7,14,20,38,84,105,118,125],"inertial":[8,95,127],"navigation,":[9],"effectively":[10],"mitigating":[11],"sensor":[12],"errors":[13],"drift":[15],"enhance":[17],"the":[18,60,90],"accuracy":[19],"stability":[21],"of":[22,72,93],"systems.":[23],"However,":[24],"their":[25],"performance":[26,80],"degrades":[27],"significantly":[28],"in":[29,81,136],"complex":[30],"scenarios":[31],"characterized":[32],"by":[33,88],"nonlinear":[34,83,126],"dynamics,":[35],"intermittent":[36],"observations,":[37],"unknown":[39],"noise":[40,73],"statistics.":[41],"To":[42],"address":[43],"these":[44],"challenges,":[45],"we":[46],"propose":[47],"Tracing-KalmanNet":[48],"(TKN),":[49],"a":[50,130],"deep":[51],"learning-enhanced":[52],"filtering":[53],"framework":[54],"that":[55,113],"integrates":[56],"neural":[57],"networks":[58],"into":[59],"gain":[62],"computation.":[63],"Unlike":[64],"traditional":[65],"methods,":[66],"TKN":[67,97,114],"operates":[68],"without":[69],"prior":[70],"knowledge":[71],"distributions":[74],"or":[75],"covariance":[76],"models,":[77],"achieving":[78],"robust":[79],"highly":[82],"data-sparse":[85],"environments.":[86],"Moreover,":[87],"leveraging":[89],"temporal":[91],"context":[92],"historical":[94],"data,":[96],"dynamically":[98],"adapts":[99],"its":[100],"parameters":[101],"improve":[103],"generalization":[104],"resilience":[106],"model":[108],"mismatch.":[109],"Extensive":[110],"experiments":[111],"demonstrate":[112],"consistently":[115],"outperforms":[116],"classical":[117],"learned":[119],"filter":[121],"variants":[122],"under":[123],"discontinuous":[124],"measurements,":[128],"offering":[129],"promising":[131],"solution":[132],"for":[133],"degraded":[137],"sensing":[138],"conditions.":[139]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-12-29T00:00:00"}