{"id":"https://openalex.org/W2942911839","doi":"https://doi.org/10.3390/rs11091009","title":"GNSS/INS/LiDAR-SLAM Integrated Navigation System Based on Graph Optimization","display_name":"GNSS/INS/LiDAR-SLAM Integrated Navigation System Based on Graph Optimization","publication_year":2019,"publication_date":"2019-04-28","ids":{"openalex":"https://openalex.org/W2942911839","doi":"https://doi.org/10.3390/rs11091009","mag":"2942911839"},"language":"en","primary_location":{"id":"doi:10.3390/rs11091009","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs11091009","pdf_url":"https://www.mdpi.com/2072-4292/11/9/1009/pdf?version=1556441839","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/11/9/1009/pdf?version=1556441839","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012120519","display_name":"Le Chang","orcid":"https://orcid.org/0000-0002-1205-4220"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Le Chang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005541527","display_name":"Xiaoji Niu","orcid":"https://orcid.org/0000-0002-5591-0859"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaoji Niu","raw_affiliation_strings":["GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100430610","display_name":"Tianyi Liu","orcid":"https://orcid.org/0000-0003-1442-5344"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyi Liu","raw_affiliation_strings":["GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103274001","display_name":"Jian Tang","orcid":"https://orcid.org/0000-0002-2967-4039"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Tang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023481650","display_name":"Chuang Qian","orcid":"https://orcid.org/0000-0003-0239-1984"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuang Qian","raw_affiliation_strings":["GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5005541527"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":113.9584,"has_fulltext":false,"cited_by_count":142,"citation_normalized_percentile":{"value":0.99924052,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"11","issue":"9","first_page":"1009","last_page":"1009"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9729999899864197,"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/gnss-applications","display_name":"GNSS applications","score":0.9225382804870605},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6956748962402344},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6501623392105103},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5838567018508911},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5478033423423767},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5229600071907043},{"id":"https://openalex.org/keywords/air-navigation","display_name":"Air navigation","score":0.5065997838973999},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48749208450317383},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.4144537150859833},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3734024465084076},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.3343612551689148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32073652744293213},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.30553361773490906},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2010050117969513},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.15937399864196777},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14651769399642944},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12778806686401367},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11399242281913757},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07215955853462219}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.9225382804870605},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6956748962402344},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6501623392105103},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5838567018508911},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5478033423423767},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5229600071907043},{"id":"https://openalex.org/C504623915","wikidata":"https://www.wikidata.org/wiki/Q1427822","display_name":"Air navigation","level":3,"score":0.5065997838973999},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48749208450317383},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4144537150859833},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3734024465084076},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.3343612551689148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32073652744293213},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.30553361773490906},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2010050117969513},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.15937399864196777},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14651769399642944},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12778806686401367},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11399242281913757},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07215955853462219},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs11091009","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs11091009","pdf_url":"https://www.mdpi.com/2072-4292/11/9/1009/pdf?version=1556441839","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a4341f1870e2411a8cb89a11cb0a2c74","is_oa":true,"landing_page_url":"https://doaj.org/article/a4341f1870e2411a8cb89a11cb0a2c74","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 11, Iss 9, p 1009 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/11/9/1009/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs11091009","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing; Volume 11; Issue 9; Pages: 1009","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs11091009","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs11091009","pdf_url":"https://www.mdpi.com/2072-4292/11/9/1009/pdf?version=1556441839","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7403017787","display_name":null,"funder_award_id":"2042018KF0242","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2942911839.pdf","grobid_xml":"https://content.openalex.org/works/W2942911839.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1542938076","https://openalex.org/W1980641585","https://openalex.org/W2081547245","https://openalex.org/W2086002623","https://openalex.org/W2127578024","https://openalex.org/W2130763585","https://openalex.org/W2133820918","https://openalex.org/W2140881794","https://openalex.org/W2146881125","https://openalex.org/W2154319942","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2461937780","https://openalex.org/W2482726005","https://openalex.org/W2565651782","https://openalex.org/W2566692295","https://openalex.org/W2745859992","https://openalex.org/W2754869336","https://openalex.org/W2782807102","https://openalex.org/W2795758935","https://openalex.org/W2805521962","https://openalex.org/W2806843650","https://openalex.org/W2963600667","https://openalex.org/W3124420883","https://openalex.org/W3125449081","https://openalex.org/W4235655357","https://openalex.org/W4246483956"],"related_works":["https://openalex.org/W2765514429","https://openalex.org/W1940389892","https://openalex.org/W2366369268","https://openalex.org/W2371986717","https://openalex.org/W3141401321","https://openalex.org/W2393713006","https://openalex.org/W2372571941","https://openalex.org/W2355031247","https://openalex.org/W2377925798","https://openalex.org/W2374278771"],"abstract_inverted_index":{"A":[0],"Global":[1],"Navigation":[2,6],"Satellite":[3],"System":[4,7],"(GNSS)/Inertial":[5],"(INS)/Light":[8],"Detection":[9],"and":[10,14,26,50,89,110,143,156,159,167,190,198,201,208,217,260,262],"Ranging":[11],"(LiDAR)-Simultaneous":[12],"Localization":[13],"Mapping":[15],"(SLAM)":[16],"integrated":[17,97,128,245],"navigation":[18,32,98,104,129,149,246,267],"system":[19,99,150,247],"based":[20],"on":[21],"graph":[22,61,77],"optimization":[23,78],"is":[24,230],"proposed":[25,95,148,240,248],"implemented":[27],"in":[28,140,163,186,249],"this":[29,250],"paper.":[30],"The":[31,63],"results":[33,91],"are":[34,151,170,211],"obtained":[35],"by":[36,153,194,213],"the":[37,41,51,55,72,76,90,94,103,116,126,131,137,141,147,160,164,174,180,183,187,202,205,221,226,235,239,243,255,266],"information":[38,256],"fusion":[39],"of":[40,75,118,121,136,146,177,182,204,234,257,272],"GNSS":[42,122,227,273],"position,":[43],"Inertial":[44],"Measurement":[45],"Unit":[46],"(IMU)":[47],"preintegration":[48],"result":[49],"relative":[52,222],"pose":[53],"from":[54],"3D":[56],"probability":[57],"map":[58],"matching":[59],"with":[60,82],"optimizing.":[62],"sliding":[64],"window":[65],"method":[66,176],"was":[67],"adopted":[68],"to":[69,108,125,173,232],"ensure":[70],"that":[71,93],"computational":[73],"load":[74],"does":[79],"not":[80],"increase":[81],"time.":[83],"Land":[84],"vehicle":[85],"tests":[86],"were":[87],"conducted,":[88],"show":[92],"GNSS/INS/LiDAR-SLAM":[96,244],"can":[100,252,263],"effectively":[101,253],"improve":[102],"positioning":[105],"accuracy":[106],"compared":[107,124],"GNSS/INS":[109,127],"other":[111],"current":[112],"GNSS/INS/LiDAR":[113],"methods.":[114],"During":[115],"simulation":[117],"one-minute":[119],"periods":[120,229],"outages,":[123],"system,":[130],"root":[132],"mean":[133],"square":[134],"(RMS)":[135],"position":[138,161,184,223],"errors":[139,169,185,210],"North":[142],"East":[144,189],"directions":[145,192],"reduced":[152,212,231],"approximately":[154,195,214],"82.2%":[155],"79.6%,":[157],"respectively,":[158,200],"error":[162,224],"vertical":[165,191],"direction":[166],"attitude":[168],"equivalent.":[171],"Compared":[172],"benchmark":[175],"GNSS/INS/LiDAR-Google":[178],"Cartographer,":[179],"RMS":[181,203],"North,":[188],"decrease":[193],"66.2%,":[196],"63.1%":[197],"75.1%,":[199],"roll,":[206],"pitch":[207],"yaw":[209],"89.5%,":[215],"92.9%":[216],"88.5%,":[218],"respectively.":[219],"Furthermore,":[220],"during":[225],"outage":[228],"0.26%":[233],"travel":[236],"distance":[237],"for":[238,270],"method.":[241],"Therefore,":[242],"paper":[251],"fuse":[254],"GNSS,":[258],"IMU":[259],"LiDAR":[261],"significantly":[264],"mitigate":[265],"error,":[268],"especially":[269],"cases":[271],"signal":[274],"attenuation":[275],"or":[276],"interruption.":[277]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":27},{"year":2023,"cited_by_count":33},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}
