{"id":"https://openalex.org/W4409092066","doi":"https://doi.org/10.1177/01423312251326646","title":"Minimum error entropy iterative extended Kalman filter for robust GPS/IMU/visual-integrated navigation under GPS anomalies","display_name":"Minimum error entropy iterative extended Kalman filter for robust GPS/IMU/visual-integrated navigation under GPS anomalies","publication_year":2025,"publication_date":"2025-04-02","ids":{"openalex":"https://openalex.org/W4409092066","doi":"https://doi.org/10.1177/01423312251326646"},"language":"en","primary_location":{"id":"doi:10.1177/01423312251326646","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312251326646","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/A5044275450","display_name":"Zhumu Fu","orcid":"https://orcid.org/0000-0002-2573-3062"},"institutions":[{"id":"https://openalex.org/I132586189","display_name":"Zhongyuan University of Technology","ror":"https://ror.org/0360zcg91","country_code":"CN","type":"education","lineage":["https://openalex.org/I132586189"]},{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhumu Fu","raw_affiliation_strings":["College of Information Engineering, Henan University of Science and Technology, China","Longmen Laboratory, China","Zhongyuan University of Technology, China"],"raw_orcid":"https://orcid.org/0000-0002-2573-3062","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Henan University of Science and Technology, China","institution_ids":["https://openalex.org/I167383011"]},{"raw_affiliation_string":"Longmen Laboratory, China","institution_ids":[]},{"raw_affiliation_string":"Zhongyuan University of Technology, China","institution_ids":["https://openalex.org/I132586189"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033381522","display_name":"Chaojie Li","orcid":"https://orcid.org/0000-0002-0557-1481"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaojie Li","raw_affiliation_strings":["College of Information Engineering, Henan University of Science and Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Henan University of Science and Technology, China","institution_ids":["https://openalex.org/I167383011"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018723299","display_name":"Fazhan Tao","orcid":"https://orcid.org/0000-0001-6721-5354"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fazhan Tao","raw_affiliation_strings":["College of Information Engineering, Henan University of Science and Technology, China","Longmen Laboratory, China"],"raw_orcid":"https://orcid.org/0000-0001-6721-5354","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Henan University of Science and Technology, China","institution_ids":["https://openalex.org/I167383011"]},{"raw_affiliation_string":"Longmen Laboratory, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100677452","display_name":"Jingyan Li","orcid":"https://orcid.org/0000-0002-5027-8655"},"institutions":[{"id":"https://openalex.org/I14116566","display_name":"Wuhan Polytechnic University","ror":"https://ror.org/05w0e5j23","country_code":"CN","type":"education","lineage":["https://openalex.org/I14116566"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyan Li","raw_affiliation_strings":["College of Humanities and Communications, Wuhan Polytechnic University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Humanities and Communications, Wuhan Polytechnic University, China","institution_ids":["https://openalex.org/I14116566"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100460410","display_name":"Yuxuan Liu","orcid":"https://orcid.org/0000-0002-5743-8447"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxuan Liu","raw_affiliation_strings":["College of Information Engineering, Henan University of Science and Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Henan University of Science and Technology, China","institution_ids":["https://openalex.org/I167383011"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5018723299"],"corresponding_institution_ids":["https://openalex.org/I167383011"],"apc_list":null,"apc_paid":null,"fwci":4.2217,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.92414749,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"48","issue":"9","first_page":"2045","last_page":"2057"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9984999895095825,"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":0.9966999888420105,"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/global-positioning-system","display_name":"Global Positioning System","score":0.8429625034332275},{"id":"https://openalex.org/keywords/gps/ins","display_name":"GPS/INS","score":0.7461899518966675},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.682350754737854},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6653865575790405},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5945650339126587},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4651518762111664},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4645039737224579},{"id":"https://openalex.org/keywords/assisted-gps","display_name":"Assisted GPS","score":0.38716480135917664},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3538365066051483},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35185766220092773},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24942386150360107},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.08406117558479309}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.8429625034332275},{"id":"https://openalex.org/C193183557","wikidata":"https://www.wikidata.org/wiki/Q195126","display_name":"GPS/INS","level":4,"score":0.7461899518966675},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.682350754737854},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6653865575790405},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5945650339126587},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4651518762111664},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4645039737224579},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.38716480135917664},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3538365066051483},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35185766220092773},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24942386150360107},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.08406117558479309},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/01423312251326646","is_oa":false,"landing_page_url":"https://doi.org/10.1177/01423312251326646","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":[],"awards":[{"id":"https://openalex.org/G3190881106","display_name":null,"funder_award_id":"62301212","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8759686084","display_name":null,"funder_award_id":"62371182","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2773327434","https://openalex.org/W2915571788","https://openalex.org/W2921721489","https://openalex.org/W2968398091","https://openalex.org/W2968936678","https://openalex.org/W2997297215","https://openalex.org/W3008542986","https://openalex.org/W3011374674","https://openalex.org/W3015528787","https://openalex.org/W3041781836","https://openalex.org/W3092317128","https://openalex.org/W3129561838","https://openalex.org/W3134432446","https://openalex.org/W3134887852","https://openalex.org/W3139289863","https://openalex.org/W3155465544","https://openalex.org/W3175256564","https://openalex.org/W3186518891","https://openalex.org/W4205289467","https://openalex.org/W4214741277","https://openalex.org/W4280532464","https://openalex.org/W4294310692","https://openalex.org/W4296873425","https://openalex.org/W4297537663","https://openalex.org/W4311975116","https://openalex.org/W4312520746","https://openalex.org/W4313449032","https://openalex.org/W4316021892","https://openalex.org/W4381886288","https://openalex.org/W4384519050","https://openalex.org/W4385062813","https://openalex.org/W4385194618","https://openalex.org/W4385309093","https://openalex.org/W4386096415","https://openalex.org/W4387642995","https://openalex.org/W4388762682"],"related_works":["https://openalex.org/W2535115763","https://openalex.org/W2318656236","https://openalex.org/W2614243947","https://openalex.org/W2055000932","https://openalex.org/W2030440043","https://openalex.org/W1910463446","https://openalex.org/W4313886815","https://openalex.org/W1494447669","https://openalex.org/W2182125867","https://openalex.org/W2119957445"],"abstract_inverted_index":{"The":[0,164],"integrated":[1],"navigation":[2,6,88,151,209],"of":[3,17,44,120,143,160,207],"global":[4],"satellite":[5,18],"system":[7,122,210],"(GNSS)":[8],"and":[9,21,31,100,126,149,184,186,192,198,202,205],"inertial":[10],"measurement":[11],"unit":[12],"(IMU)":[13],"faces":[14],"the":[15,42,58,103,111,118,121,127,135,140,144,147,158,161,170,174,179,187,203,208],"problems":[16],"signal":[19],"limitation":[20],"IMU":[22],"error":[23,76,181,189],"accumulation":[24],"in":[25,195],"complex":[26],"environments":[27],"such":[28],"as":[29,53],"forests":[30],"long":[32],"tunnels.":[33],"Adding":[34],"visual":[35],"sensors":[36],"is":[37,50,89,93,114,131],"a":[38,68,74],"good":[39],"solution.":[40],"In":[41,71],"majority":[43],"existing":[45],"researches,":[46],"non-Gaussian":[47,64,124,199],"ambient":[48,65],"noise":[49,55,66,200],"mostly":[51],"regarded":[52],"Gaussian":[54],"to":[56,61,95,116,123,133,138,156],"simplify":[57],"processing,":[59],"how":[60],"deal":[62],"with":[63,169],"remains":[67],"burning":[69],"issue.":[70],"this":[72],"paper,":[73],"minimum":[75],"entropy":[77],"(MEE)":[78],"based":[79],"iterative":[80,108],"extended":[81],"Kalman":[82],"filtering":[83],"(IEKF)":[84],"method":[85,130,176],"for":[86],"GPS/IMU/Visual-integrated":[87],"developed.":[90],"First,":[91],"IEKF":[92],"employed":[94],"process":[96],"GPS":[97,196],"abnormal":[98,197],"data":[99,152],"gradually":[101],"approach":[102],"real":[104],"state":[105,136],"through":[106],"an":[107],"optimization.":[109],"Second,":[110],"MEE":[112],"criterion":[113],"combined":[115],"enhance":[117],"robustness":[119,206],"noise,":[125],"fixed-point":[128],"iteration":[129],"used":[132],"calculate":[134],"estimation":[137],"improve":[139],"positioning":[141],"accuracy":[142,204],"system.":[145],"Finally,":[146],"Canadian":[148],"Katwijk":[150],"sets":[153],"are":[154,211],"utilized":[155],"validate":[157],"effectiveness":[159],"proposed":[162,175],"method.":[163],"results":[165],"show":[166],"that":[167],"compared":[168],"traditional":[171],"EKF-based":[172],"method,":[173],"can":[177],"reduce":[178],"longitude":[180],"by":[182,190],"5.9%":[183],"29.2%,":[185],"latitude":[188],"19.3%":[191],"56.6%,":[193],"respectively,":[194],"environments,":[201],"significantly":[212],"improved.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}
