{"id":"https://openalex.org/W2809372170","doi":"https://doi.org/10.1177/1550147718781750","title":"A low-cost solution for unmanned aerial vehicle navigation in a global positioning system\u2013denied environment","display_name":"A low-cost solution for unmanned aerial vehicle navigation in a global positioning system\u2013denied environment","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2809372170","doi":"https://doi.org/10.1177/1550147718781750","mag":"2809372170"},"language":"en","primary_location":{"id":"doi:10.1177/1550147718781750","is_oa":true,"landing_page_url":"https://doi.org/10.1177/1550147718781750","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/1550147718781750","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"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":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://journals.sagepub.com/doi/pdf/10.1177/1550147718781750","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024851657","display_name":"Shahrukh Ashraf","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127281","display_name":"Cypress Semiconductor Corporation (United States)","ror":"https://ror.org/02wpc5d77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127281"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shahrukh Ashraf","raw_affiliation_strings":["Cypress Semiconductors Corp., Livonia, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cypress Semiconductors Corp., Livonia, MI, USA","institution_ids":["https://openalex.org/I4210127281"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019081200","display_name":"Priyanka Aggarwal","orcid":"https://orcid.org/0000-0002-6760-2191"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Priyanka Aggarwal","raw_affiliation_strings":["Mantra Scientific LLC, Virginia Beach, VA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mantra Scientific LLC, Virginia Beach, VA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020960266","display_name":"Praveen Damacharla","orcid":"https://orcid.org/0000-0001-8058-7072"},"institutions":[{"id":"https://openalex.org/I90871651","display_name":"University of Toledo","ror":"https://ror.org/01pbdzh19","country_code":"US","type":"education","lineage":["https://openalex.org/I90871651"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Praveen Damacharla","raw_affiliation_strings":["Electrical Engineering and Computer Science Department, The University of Toledo, Toledo, OH, USA"],"raw_orcid":"https://orcid.org/0000-0001-8058-7072","affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science Department, The University of Toledo, Toledo, OH, USA","institution_ids":["https://openalex.org/I90871651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100604408","display_name":"Hong Wang","orcid":"https://orcid.org/0000-0002-3300-1638"},"institutions":[{"id":"https://openalex.org/I90871651","display_name":"University of Toledo","ror":"https://ror.org/01pbdzh19","country_code":"US","type":"education","lineage":["https://openalex.org/I90871651"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hong Wang","raw_affiliation_strings":["Engineering Technology Department, The University of Toledo, Toledo, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Technology Department, The University of Toledo, Toledo, OH, USA","institution_ids":["https://openalex.org/I90871651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078681299","display_name":"Ahmad Y. Javaid","orcid":"https://orcid.org/0000-0003-4719-4941"},"institutions":[{"id":"https://openalex.org/I90871651","display_name":"University of Toledo","ror":"https://ror.org/01pbdzh19","country_code":"US","type":"education","lineage":["https://openalex.org/I90871651"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ahmad Y Javaid","raw_affiliation_strings":["Electrical Engineering and Computer Science Department, The University of Toledo, Toledo, OH, USA"],"raw_orcid":"https://orcid.org/0000-0003-4719-4941","affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science Department, The University of Toledo, Toledo, OH, USA","institution_ids":["https://openalex.org/I90871651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111712571","display_name":"Vijay Devabhaktuni","orcid":null},"institutions":[{"id":"https://openalex.org/I90871651","display_name":"University of Toledo","ror":"https://ror.org/01pbdzh19","country_code":"US","type":"education","lineage":["https://openalex.org/I90871651"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Devabhaktuni","raw_affiliation_strings":["Electrical Engineering and Computer Science Department, The University of Toledo, Toledo, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science Department, The University of Toledo, Toledo, OH, USA","institution_ids":["https://openalex.org/I90871651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5078681299"],"corresponding_institution_ids":["https://openalex.org/I90871651"],"apc_list":{"value":2200,"currency":"USD","value_usd":2200},"apc_paid":{"value":2200,"currency":"USD","value_usd":2200},"fwci":1.1445,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.83458328,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"14","issue":"6","first_page":"155014771878175","last_page":"155014771878175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8185507655143738},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6557638645172119},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6471712589263916},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5952839255332947},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5677013993263245},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.512880802154541},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.5043941736221313},{"id":"https://openalex.org/keywords/optical-flow","display_name":"Optical flow","score":0.4794817864894867},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4728829264640808},{"id":"https://openalex.org/keywords/positioning-system","display_name":"Positioning system","score":0.41036832332611084},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3843512237071991},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34030234813690186},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33325058221817017},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.2248803973197937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09035897254943848}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8185507655143738},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6557638645172119},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6471712589263916},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5952839255332947},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5677013993263245},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.512880802154541},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.5043941736221313},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.4794817864894867},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4728829264640808},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.41036832332611084},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3843512237071991},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34030234813690186},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33325058221817017},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.2248803973197937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09035897254943848},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/1550147718781750","is_oa":true,"landing_page_url":"https://doi.org/10.1177/1550147718781750","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/1550147718781750","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"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":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:sae:intdis:v:14:y:2018:i:6:p:1550147718781750","is_oa":false,"landing_page_url":"https://journals.sagepub.com/doi/10.1177/1550147718781750","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:d7e24ab6222e4b8faee427bf16fef513","is_oa":true,"landing_page_url":"https://doaj.org/article/d7e24ab6222e4b8faee427bf16fef513","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Distributed Sensor Networks, Vol 14 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1177/1550147718781750","is_oa":true,"landing_page_url":"https://doi.org/10.1177/1550147718781750","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/1550147718781750","source":{"id":"https://openalex.org/S64417657","display_name":"International Journal of Distributed Sensor Networks","issn_l":"1550-1329","issn":["1550-1329","1550-1477"],"is_oa":true,"is_in_doaj":true,"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":"International Journal of Distributed Sensor Networks","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2809372170.pdf"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W42404025","https://openalex.org/W208769283","https://openalex.org/W635291686","https://openalex.org/W774034202","https://openalex.org/W1571835867","https://openalex.org/W1974535681","https://openalex.org/W1991224261","https://openalex.org/W1996567593","https://openalex.org/W1996921760","https://openalex.org/W2011516711","https://openalex.org/W2013002270","https://openalex.org/W2027625594","https://openalex.org/W2028326676","https://openalex.org/W2038420319","https://openalex.org/W2041992727","https://openalex.org/W2069698418","https://openalex.org/W2093488518","https://openalex.org/W2101051269","https://openalex.org/W2104318838","https://openalex.org/W2114652055","https://openalex.org/W2117113441","https://openalex.org/W2127600839","https://openalex.org/W2129276668","https://openalex.org/W2129833832","https://openalex.org/W2131747574","https://openalex.org/W2137796516","https://openalex.org/W2143816625","https://openalex.org/W2147083891","https://openalex.org/W2151499553","https://openalex.org/W2154422147","https://openalex.org/W2157797247","https://openalex.org/W2166793729","https://openalex.org/W2169064301","https://openalex.org/W2169076903","https://openalex.org/W2174561378","https://openalex.org/W2466559273","https://openalex.org/W2623660146","https://openalex.org/W2763891160","https://openalex.org/W3009174982","https://openalex.org/W4211155642","https://openalex.org/W4231061463"],"related_works":["https://openalex.org/W3000097931","https://openalex.org/W2354322770","https://openalex.org/W4237547500","https://openalex.org/W1570848052","https://openalex.org/W2952275251","https://openalex.org/W4313886815","https://openalex.org/W2773722138","https://openalex.org/W2038183074","https://openalex.org/W4385226512","https://openalex.org/W2065094024"],"abstract_inverted_index":{"The":[0,18,146],"ability":[1],"of":[2,36,114,142,157,164,188],"an":[3,66,115,162],"autonomous":[4],"unmanned":[5],"aerial":[6],"vehicle":[7],"to":[8,33,52,75],"navigate":[9],"and":[10,16,30,85,108],"fly":[11],"precisely":[12],"determines":[13],"its":[14],"utility":[15],"performance.":[17],"current":[19],"navigation":[20,50,78,171],"systems":[21],"are":[22,31,179,190],"highly":[23],"dependent":[24],"on":[25],"the":[26,77,103,112,149,155,183],"global":[27,37,57,81,86],"positioning":[28,38,58,82,87,169],"system":[29,39,59,83,170],"prone":[32],"error":[34],"because":[35],"signal":[40],"outages.":[41,60],"However,":[42],"advancements":[43],"in":[44,180],"onboard":[45],"processing":[46],"have":[47,160],"enabled":[48],"inertial":[49,134],"algorithms":[51],"perform":[53],"well":[54],"during":[55,80,172],"short":[56],"In":[61],"this":[62],"article,":[63],"we":[64,137],"propose":[65,111],"intelligent":[67],"optical":[68,91,124,130],"flow\u2013based":[69],"algorithm":[70],"combined":[71],"with":[72,133,182],"Kalman":[73,144],"filters":[74],"provide":[76],"capability":[79],"outages":[84],"system\u2013denied":[88],"environments.":[89],"Traditional":[90],"flow":[92,125,131],"measurement":[93,104],"uses":[94],"block":[95,119],"matching":[96,120],"for":[97,122,166],"motion":[98],"vector":[99],"calculation":[100],"that":[101],"makes":[102],"task":[105],"computationally":[106],"expensive":[107],"slow.":[109],"We":[110,159],"application":[113],"artificial":[116],"bee":[117],"colony\u2013based":[118],"technique":[121],"faster":[123],"measurements.":[126],"To":[127],"effectively":[128],"fuse":[129],"data":[132],"sensors":[135],"output,":[136],"employ":[138],"a":[139],"modified":[140],"form":[141],"extended":[143],"filter.":[145],"modifications":[147],"make":[148],"filter":[150],"less":[151],"noisy":[152],"by":[153],"utilizing":[154],"redundancy":[156],"sensors.":[158],"achieved":[161],"accuracy":[163],"~95%":[165],"all":[167],"non-global":[168],"our":[173],"simulation":[174,184],"studies.":[175],"Our":[176],"real-world":[177],"experiments":[178],"agreement":[181],"studies":[185],"when":[186],"effects":[187],"wind":[189],"taken":[191],"into":[192],"consideration.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2018-06-29T00:00:00"}