{"id":"https://openalex.org/W3184506324","doi":"https://doi.org/10.1155/2021/9992041","title":"Modified Sage\u2010Husa Adaptive Kalman Filter\u2010Based SINS/DVL Integrated Navigation System for AUV","display_name":"Modified Sage\u2010Husa Adaptive Kalman Filter\u2010Based SINS/DVL Integrated Navigation System for AUV","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3184506324","doi":"https://doi.org/10.1155/2021/9992041","mag":"3184506324"},"language":"en","primary_location":{"id":"doi:10.1155/2021/9992041","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/9992041","pdf_url":"https://downloads.hindawi.com/journals/js/2021/9992041.pdf","source":{"id":"https://openalex.org/S96783963","display_name":"Journal of Sensors","issn_l":"1687-725X","issn":["1687-725X","1687-7268"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://downloads.hindawi.com/journals/js/2021/9992041.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101769298","display_name":"Ruixin Liu","orcid":"https://orcid.org/0000-0001-5126-1532"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruixin Liu","raw_affiliation_strings":["Harbin Institute of Technology, Harbin 150001, China","Shanghai Xin Yue Lian Hui Electronic Technology Co., Ltd., Shanghai 200233, China"],"raw_orcid":"https://orcid.org/0000-0001-5126-1532","affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Shanghai Xin Yue Lian Hui Electronic Technology Co., Ltd., Shanghai 200233, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101760485","display_name":"Fucheng Liu","orcid":"https://orcid.org/0000-0002-5668-9105"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210153230","display_name":"Shanghai Academy of Spaceflight Technology","ror":"https://ror.org/050qhwt21","country_code":"CN","type":"government","lineage":["https://openalex.org/I2802615301","https://openalex.org/I4210153230"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fucheng Liu","raw_affiliation_strings":["Shanghai Academy of Spaceflight Technology, Shanghai 201109, China","Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":"https://orcid.org/0000-0002-5668-9105","affiliations":[{"raw_affiliation_string":"Shanghai Academy of Spaceflight Technology, Shanghai 201109, China","institution_ids":["https://openalex.org/I4210153230"]},{"raw_affiliation_string":"Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083391136","display_name":"Chunning Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunning Liu","raw_affiliation_strings":["Harbin Institute of Technology, Harbin 150001, China","Shanghai Xin Yue Lian Hui Electronic Technology Co., Ltd., Shanghai 200233, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Shanghai Xin Yue Lian Hui Electronic Technology Co., Ltd., Shanghai 200233, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101834288","display_name":"Pengchao Zhang","orcid":"https://orcid.org/0000-0003-3738-9155"},"institutions":[{"id":"https://openalex.org/I187175081","display_name":"Shaanxi University of Technology","ror":"https://ror.org/056m91h77","country_code":"CN","type":"education","lineage":["https://openalex.org/I187175081"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengchao Zhang","raw_affiliation_strings":["Shaanxi University of Technology, Hanzhong 723000, China","Shanghai Xin Yue Lian Hui Electronic Technology Co., Ltd., Shanghai 200233, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shaanxi University of Technology, Hanzhong 723000, China","institution_ids":["https://openalex.org/I187175081"]},{"raw_affiliation_string":"Shanghai Xin Yue Lian Hui Electronic Technology Co., Ltd., Shanghai 200233, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101760485"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210153230"],"apc_list":{"value":2100,"currency":"USD","value_usd":2100},"apc_paid":{"value":2100,"currency":"USD","value_usd":2100},"fwci":3.2971,"has_fulltext":true,"cited_by_count":26,"citation_normalized_percentile":{"value":0.91622623,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2021","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7390021085739136},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.60797119140625},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.5289390683174133},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5210170745849609},{"id":"https://openalex.org/keywords/adaptive-filter","display_name":"Adaptive filter","score":0.5079815983772278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49115821719169617},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.47640955448150635},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4493544101715088},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3725705146789551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2863923907279968},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.20312681794166565},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15940093994140625}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7390021085739136},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.60797119140625},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.5289390683174133},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5210170745849609},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.5079815983772278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49115821719169617},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.47640955448150635},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4493544101715088},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3725705146789551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2863923907279968},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.20312681794166565},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15940093994140625},{"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2021/9992041","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/9992041","pdf_url":"https://downloads.hindawi.com/journals/js/2021/9992041.pdf","source":{"id":"https://openalex.org/S96783963","display_name":"Journal of Sensors","issn_l":"1687-725X","issn":["1687-725X","1687-7268"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Sensors","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:79d582bb4153411d937e172d02cf2dee","is_oa":false,"landing_page_url":"https://doaj.org/article/79d582bb4153411d937e172d02cf2dee","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Sensors, Vol 2021 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2021/9992041","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/9992041","pdf_url":"https://downloads.hindawi.com/journals/js/2021/9992041.pdf","source":{"id":"https://openalex.org/S96783963","display_name":"Journal of Sensors","issn_l":"1687-725X","issn":["1687-725X","1687-7268"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3184506324.pdf","grobid_xml":"https://content.openalex.org/works/W3184506324.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W2036882527","https://openalex.org/W2127291412","https://openalex.org/W2153439233","https://openalex.org/W2766712409","https://openalex.org/W2802267618","https://openalex.org/W2810131311","https://openalex.org/W2941114614","https://openalex.org/W2966570647","https://openalex.org/W2980386465","https://openalex.org/W2983239080","https://openalex.org/W2988153426","https://openalex.org/W2989921246","https://openalex.org/W2999441121","https://openalex.org/W3010578193","https://openalex.org/W3046016151","https://openalex.org/W3057590793","https://openalex.org/W3110314376","https://openalex.org/W3120880861"],"related_works":["https://openalex.org/W2182059946","https://openalex.org/W1580685205","https://openalex.org/W2320496747","https://openalex.org/W1488420340","https://openalex.org/W2164174227","https://openalex.org/W4206770590","https://openalex.org/W2375426323","https://openalex.org/W2363340733","https://openalex.org/W2349716249","https://openalex.org/W2103062922"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"modified":[4,62,125],"Sage\u2010Husa":[5,56,63,86,126],"adaptive":[6,57,64,73,87,127],"Kalman":[7,58,65,88,128],"filter\u2010based":[8],"SINS/DVL":[9],"integrated":[10],"navigation":[11,26,115],"system":[12],"for":[13,53,117],"the":[14,25,43,54,60,68,77,82,85,101,104,123],"autonomous":[15],"underwater":[16],"vehicle":[17],"(AUV),":[18],"where":[19],"DVL":[20],"is":[21],"employed":[22],"to":[23,80,99,111],"correct":[24],"errors":[27],"of":[28,46,72,76,84,103],"SINS":[29],"that":[30,113],"accumulate":[31],"over":[32],"time.":[33],"When":[34],"negative":[35,69],"definite":[36,70],"items":[37,71],"are":[38,109],"large":[39],"enough,":[40],"different":[41],"from":[42],"positive":[44],"definiteness":[45],"noise":[47,78],"matrices":[48],"which":[49],"cannot":[50],"be":[51,120],"guaranteed":[52],"conventional":[55],"filter,":[59],"proposed":[61,124],"filter":[66],"deletes":[67],"update":[74],"laws":[75],"matrix":[79],"ensure":[81,100],"convergence":[83],"filter.":[89,105,129],"In":[90],"other":[91],"words,":[92],"this":[93],"method":[94],"sacrifices":[95],"some":[96],"filtering":[97],"precision":[98],"stability":[102],"The":[106],"simulation":[107],"tests":[108],"implemented":[110],"verify":[112],"expected":[114],"accuracy":[116],"AUV":[118],"can":[119],"obtained":[121],"using":[122]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
