{"id":"https://openalex.org/W4210506113","doi":"https://doi.org/10.3390/rs14030752","title":"A GRU and AKF-Based Hybrid Algorithm for Improving INS/GNSS Navigation Accuracy during GNSS Outage","display_name":"A GRU and AKF-Based Hybrid Algorithm for Improving INS/GNSS Navigation Accuracy during GNSS Outage","publication_year":2022,"publication_date":"2022-02-06","ids":{"openalex":"https://openalex.org/W4210506113","doi":"https://doi.org/10.3390/rs14030752"},"language":"en","primary_location":{"id":"doi:10.3390/rs14030752","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14030752","pdf_url":"https://www.mdpi.com/2072-4292/14/3/752/pdf?version=1644479876","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/2072-4292/14/3/752/pdf?version=1644479876","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081271304","display_name":"Yanan Tang","orcid":null},"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":"Yanan Tang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055049427","display_name":"Jinguang Jiang","orcid":"https://orcid.org/0000-0002-0122-5514"},"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":"Jinguang Jiang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101694606","display_name":"Jianghua Liu","orcid":"https://orcid.org/0000-0002-9974-328X"},"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"]},{"id":"https://openalex.org/I4210101555","display_name":"Hubei University of Science and Technology","ror":"https://ror.org/018wg9441","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210101555"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianghua Liu","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan 430079, China","School of Electronics and Information Engineering, Hubei University of Science and Technology, Xianning 437100, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Electronics and Information Engineering, Hubei University of Science and Technology, Xianning 437100, China","institution_ids":["https://openalex.org/I4210101555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016682946","display_name":"Peihui Yan","orcid":"https://orcid.org/0000-0001-9661-3562"},"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":"Peihui Yan","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052422214","display_name":"Yifeng Tao","orcid":"https://orcid.org/0000-0001-5076-0081"},"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":"Yifeng Tao","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101705111","display_name":"Jingnan Liu","orcid":"https://orcid.org/0000-0003-4689-4161"},"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"]},{"id":"https://openalex.org/I4210101555","display_name":"Hubei University of Science and Technology","ror":"https://ror.org/018wg9441","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210101555"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingnan Liu","raw_affiliation_strings":["GNSS Research Center, Wuhan University, Wuhan 430079, China","School of Electronics and Information Engineering, Hubei University of Science and Technology, Xianning 437100, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Electronics and Information Engineering, Hubei University of Science and Technology, Xianning 437100, China","institution_ids":["https://openalex.org/I4210101555"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5055049427"],"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":30.5933,"has_fulltext":true,"cited_by_count":51,"citation_normalized_percentile":{"value":0.99549841,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"14","issue":"3","first_page":"752","last_page":"752"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991999864578247,"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":0.9991999864578247,"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/T10655","display_name":"GNSS positioning and interference","score":0.9975000023841858,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.920311450958252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7500903606414795},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5603327751159668},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5544716119766235},{"id":"https://openalex.org/keywords/satellite-system","display_name":"Satellite system","score":0.4497261047363281},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.423339307308197},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4180053770542145},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3478849530220032},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.22766712307929993},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.11086195707321167},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1090708076953888},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08199939131736755}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.920311450958252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7500903606414795},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5603327751159668},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5544716119766235},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.4497261047363281},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.423339307308197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4180053770542145},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3478849530220032},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.22766712307929993},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.11086195707321167},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1090708076953888},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08199939131736755},{"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/rs14030752","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14030752","pdf_url":"https://www.mdpi.com/2072-4292/14/3/752/pdf?version=1644479876","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:399646f55d244988998d5311a9f0df4c","is_oa":true,"landing_page_url":"https://doaj.org/article/399646f55d244988998d5311a9f0df4c","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 14, Iss 3, p 752 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/14/3/752/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs14030752","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 14; Issue 3; Pages: 752","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs14030752","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14030752","pdf_url":"https://www.mdpi.com/2072-4292/14/3/752/pdf?version=1644479876","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":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1250747612","display_name":null,"funder_award_id":"2042018kf0253","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G2376276132","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G2788962321","display_name":null,"funder_award_id":"2018YFB0505200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8188676834","display_name":null,"funder_award_id":"2018YFB0505201","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"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/W4210506113.pdf","grobid_xml":"https://content.openalex.org/works/W4210506113.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W581956982","https://openalex.org/W1786529921","https://openalex.org/W1994691007","https://openalex.org/W2000997774","https://openalex.org/W2130995900","https://openalex.org/W2160626949","https://openalex.org/W2204246008","https://openalex.org/W2375444561","https://openalex.org/W2513568676","https://openalex.org/W2587647538","https://openalex.org/W2753943696","https://openalex.org/W2900529667","https://openalex.org/W2922457702","https://openalex.org/W2950202372","https://openalex.org/W2968936678","https://openalex.org/W2993766500","https://openalex.org/W2995170636","https://openalex.org/W2995290577","https://openalex.org/W2999466041","https://openalex.org/W3004193462","https://openalex.org/W3017385934","https://openalex.org/W3018424141","https://openalex.org/W3034539604","https://openalex.org/W3043258403","https://openalex.org/W3057307966","https://openalex.org/W3082230416","https://openalex.org/W3092317128","https://openalex.org/W3104261890","https://openalex.org/W3105104456","https://openalex.org/W3200846680","https://openalex.org/W3203938210","https://openalex.org/W4298408646","https://openalex.org/W6785822436","https://openalex.org/W7026575680"],"related_works":["https://openalex.org/W4285127726","https://openalex.org/W4322629208","https://openalex.org/W3193229012","https://openalex.org/W1961937144","https://openalex.org/W2469899484","https://openalex.org/W4313289013","https://openalex.org/W2966362502","https://openalex.org/W4237475966","https://openalex.org/W3017385934","https://openalex.org/W4379260520"],"abstract_inverted_index":{"The":[0,54,97,154,178],"integrated":[1],"navigation":[2,8,23,95],"system":[3,9],"consisting":[4],"of":[5,60,133,146,184,237,249],"an":[6,171,222],"inertial":[7],"(INS)":[10],"and":[11,45,63,85,103,109,129,135,161,200,209,242,246],"Global":[12],"Navigation":[13],"Satellite":[14],"System":[15],"(GNSS)":[16],"provides":[17],"continuous":[18],"high-accuracy":[19],"positioning":[20],"whereas":[21],"the":[22,69,79,94,115,144,147,158,167,194,201,204,217,230,234],"accuracy":[24,62,208],"during":[25,72],"a":[26,40,89],"GNSS":[27,73,138,176,250],"outage":[28,139],"inevitably":[29],"degrades":[30],"owing":[31],"to":[32,67,92,142,225],"INS":[33],"error":[34,81,236],"divergence.":[35],"To":[36],"reduce":[37],"such":[38],"degradation,":[39],"gated":[41],"recurrent":[42,190],"unit":[43],"(GRU)":[44],"adaptive":[46,218],"Kalman":[47],"filter":[48],"(AKF)-based":[49],"hybrid":[50,99],"algorithm":[51,100,149],"is":[52,65,101,170,214,221],"proposed.":[53],"GRU":[55,202],"network,":[56],"which":[57],"has":[58],"advantages":[59],"high":[61],"efficiency,":[64],"constructed":[66],"predict":[68],"position":[70,198],"variations":[71],"outage.":[74],"Furthermore,":[75,212],"this":[76],"paper":[77],"takes":[78],"GRU-predicted":[80],"accumulation":[82],"into":[83],"consideration,":[84],"introduces":[86],"AKF":[87,232],"as":[88,229],"supplementary":[90],"methodology":[91,173],"improve":[93],"performance.":[96],"proposed":[98,148],"trained":[102],"tested":[104],"by":[105,240],"practical":[106],"road":[107],"datasets":[108],"compared":[110],"with":[111],"four":[112],"algorithms,":[113],"including":[114],"standard":[116,159],"KF,":[117,121,128],"Multi-Layer":[118],"Perceptron":[119],"(MLP)-aided":[120],"Long":[122],"Short":[123],"Time":[124],"Memory":[125],"(LSTM)":[126],"aided":[127],"GRU-aided":[130,231,238],"KF.":[131],"Periods":[132],"180":[134,245],"120":[136,247],"s":[137,248],"are":[140],"employed":[141],"test":[143],"performance":[145,179],"in":[150,196,206],"different":[151],"time":[152],"scales.":[153],"comparison":[155,180],"result":[156],"between":[157,181],"KF":[160,164,239],"neural":[162,168,185,191,226],"network-aided":[163,227],"indicates":[165],"that":[166,188,216],"network":[169],"effective":[172,223],"for":[174],"bridging":[175],"outages.":[177],"three":[182],"kinds":[183],"networks":[186,192],"demonstrate":[187],"both":[189],"surpass":[193],"MLP":[195],"prediction":[197,207],"variation,":[199],"transcends":[203],"LSTM":[205],"training":[210],"efficiency.":[211],"it":[213],"concluded":[215],"estimation":[219],"theory":[220],"complement":[224],"navigation,":[228],"reduced":[233],"horizontal":[235],"31.71%":[241],"16.12%":[243],"after":[244],"outage,":[251],"respectively.":[252]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":4}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2022-02-08T00:00:00"}
