{"id":"https://openalex.org/W4288714466","doi":"https://doi.org/10.1177/01423312221110956","title":"Adaptive invariant Kalman filtering for lie groups attitude estimation with biased and heavy-tailed process noise","display_name":"Adaptive invariant Kalman filtering for lie groups attitude estimation with biased and heavy-tailed process noise","publication_year":2022,"publication_date":"2022-07-29","ids":{"openalex":"https://openalex.org/W4288714466","doi":"https://doi.org/10.1177/01423312221110956"},"language":"en","primary_location":{"id":"doi:10.1177/01423312221110956","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312221110956","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5020702440","display_name":"Jiaolong Wang","orcid":"https://orcid.org/0000-0002-3645-5926"},"institutions":[{"id":"https://openalex.org/I111599522","display_name":"Jiangnan University","ror":"https://ror.org/04mkzax54","country_code":"CN","type":"education","lineage":["https://openalex.org/I111599522"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiaolong Wang","raw_affiliation_strings":["Institute of Automation, Jiangnan University, China"],"raw_orcid":"https://orcid.org/0000-0002-3645-5926","affiliations":[{"raw_affiliation_string":"Institute of Automation, Jiangnan University, China","institution_ids":["https://openalex.org/I111599522","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002568038","display_name":"Chengxi Zhang","orcid":"https://orcid.org/0000-0002-3130-6497"},"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":"Chengxi Zhang","raw_affiliation_strings":["Harbin Institute of Technology, China"],"raw_orcid":"https://orcid.org/0000-0002-3130-6497","affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100329181","display_name":"Jinyu Liu","orcid":"https://orcid.org/0000-0002-7094-2365"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinyu Liu","raw_affiliation_strings":["Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005539578","display_name":"Caisheng Wei","orcid":"https://orcid.org/0000-0002-1377-7789"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caisheng Wei","raw_affiliation_strings":["School of Aeronautics and Astronautics, Central South University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Central South University, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102977936","display_name":"Haitao Liu","orcid":"https://orcid.org/0000-0002-7840-3753"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Liu","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5020702440"],"corresponding_institution_ids":["https://openalex.org/I111599522","https://openalex.org/I4210112150"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13267582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"45","issue":"2","first_page":"249","last_page":"260"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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/T10655","display_name":"GNSS positioning and interference","score":0.986299991607666,"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":0.5856348872184753},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5612357258796692},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.5119646787643433},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49653154611587524},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4740987718105316},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.45735234022140503},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4397605061531067},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.4322529733181},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2794414162635803},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.245475172996521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23163765668869019},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.21465444564819336}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5856348872184753},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5612357258796692},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.5119646787643433},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49653154611587524},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4740987718105316},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.45735234022140503},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4397605061531067},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.4322529733181},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2794414162635803},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.245475172996521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23163765668869019},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.21465444564819336},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/01423312221110956","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312221110956","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2220536124","display_name":null,"funder_award_id":"62003112","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2291762862","display_name":null,"funder_award_id":"JUSRP121022","funder_id":"https://openalex.org/F4320329878","funder_display_name":"Central University Basic Research Fund of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320329878","display_name":"Central University Basic Research Fund of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1943808550","https://openalex.org/W1977538008","https://openalex.org/W1984468587","https://openalex.org/W1998727970","https://openalex.org/W2000721204","https://openalex.org/W2004812951","https://openalex.org/W2011586160","https://openalex.org/W2012387742","https://openalex.org/W2012526720","https://openalex.org/W2018431869","https://openalex.org/W2018655096","https://openalex.org/W2048312361","https://openalex.org/W2090347046","https://openalex.org/W2094385794","https://openalex.org/W2107929215","https://openalex.org/W2122246449","https://openalex.org/W2142003981","https://openalex.org/W2155653863","https://openalex.org/W2166957155","https://openalex.org/W2294322297","https://openalex.org/W2558432035","https://openalex.org/W2572262903","https://openalex.org/W2575097171","https://openalex.org/W2614952633","https://openalex.org/W2724247724","https://openalex.org/W2735133106","https://openalex.org/W2736851647","https://openalex.org/W2737188128","https://openalex.org/W2776443693","https://openalex.org/W2803714725","https://openalex.org/W2809327114","https://openalex.org/W2909513358","https://openalex.org/W2910033939","https://openalex.org/W2995221894","https://openalex.org/W2997387169","https://openalex.org/W3009304218","https://openalex.org/W3099007322","https://openalex.org/W3160429524"],"related_works":["https://openalex.org/W2945197240","https://openalex.org/W2291078917","https://openalex.org/W2156236501","https://openalex.org/W4302337189","https://openalex.org/W1035502194","https://openalex.org/W2010079953","https://openalex.org/W2032956036","https://openalex.org/W2079005675","https://openalex.org/W4206024512","https://openalex.org/W3193646638"],"abstract_inverted_index":{"Attitude":[0],"determination":[1,204],"is":[2,13,61,113],"fundamental":[3],"for":[4,44,202],"spacecraft":[5],"missions":[6],"in":[7,17],"aerospace":[8],"engineering.":[9],"Kalman":[10,33,95],"filter":[11,34,96],"(KF)":[12],"the":[14,23,31,41,56,100,105,117,122,133,141,151,158,161,189],"optimal":[15],"estimator":[16],"least":[18],"square":[19],"sense":[20],"and,":[21],"using":[22,116],"symmetry":[24],"properties":[25],"of":[26,51,76,109,129,132,156,163,195],"matrix":[27,126,155,168],"Lie":[28,57,152,182],"groups":[29,58,153,183],"system,":[30],"invariant":[32,94],"(IKF)":[35],"has":[36],"been":[37],"developed":[38],"to":[39,49,73],"boost":[40],"filtering":[42,191],"performance":[43],"attitude":[45,59,79,184,203],"estimation.":[46],"However,":[47],"due":[48],"presence":[50],"frequent":[52],"and":[53,67,85,127,146,165,193,208],"severer":[54],"maneuvers,":[55],"dynamics":[60],"usually":[62,71],"corrupted":[63],"by":[64,83,98,173],"significant":[65],"biases":[66],"heavy-tailed":[68,86,209],"outliers,":[69],"which":[70],"leads":[72],"decreased":[74],"precision":[75,194],"IKF.":[77],"For":[78],"estimation":[80,185],"problem":[81],"troubled":[82],"biased":[84,159,206],"process":[87,210],"noise,":[88],"this":[89],"work":[90],"proposes":[91],"a":[92],"new":[93],"(VBAIKF)":[97],"constructing":[99],"hierarchical":[101],"Gaussian":[102],"system":[103,186],"model:":[104],"probability":[106],"density":[107],"function":[108],"prior":[110],"estimate":[111],"state":[112],"first":[114],"described":[115],"student\u2019s":[118,135],"t":[119,136],"distribution,":[120],"while":[121],"unknown":[123],"scale":[124,166],"covariance":[125,167],"degrees":[128],"freedom":[130],"(dof)":[131],"employed":[134],"distribution":[137,144],"are":[138,169],"defined":[139],"as":[140],"inverse":[142],"Wishart":[143],"(IWD)":[145],"Gamma":[147],"distribution.":[148],"In":[149],"VBAIKF,":[150],"rotation":[154],"spacecraft,":[157],"mean,":[160],"parameters":[162],"dof":[164],"online":[170],"estimated":[171],"together":[172],"variational":[174],"Bayesian":[175],"fixed-point":[176],"iterations.":[177],"The":[178],"simulation":[179],"results":[180],"with":[181,205],"further":[187],"verify":[188],"superior":[190],"adaptability":[192],"proposed":[196],"approach":[197],"VBAIKF":[198],"than":[199],"other":[200],"methods":[201],"mean":[207],"noise.":[211]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}