{"id":"https://openalex.org/W4362519175","doi":"https://doi.org/10.3390/rs15071854","title":"Tightly Coupled INS/APS Passive Single Beacon Navigation","display_name":"Tightly Coupled INS/APS Passive Single Beacon Navigation","publication_year":2023,"publication_date":"2023-03-30","ids":{"openalex":"https://openalex.org/W4362519175","doi":"https://doi.org/10.3390/rs15071854"},"language":"en","primary_location":{"id":"doi:10.3390/rs15071854","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15071854","pdf_url":"https://www.mdpi.com/2072-4292/15/7/1854/pdf?version=1680179063","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/2072-4292/15/7/1854/pdf?version=1680179063","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088669510","display_name":"Zhuoyang Zou","orcid":"https://orcid.org/0000-0001-9658-3535"},"institutions":[{"id":"https://openalex.org/I2799890334","display_name":"Transport for London","ror":"https://ror.org/03vnshb93","country_code":"GB","type":"government","lineage":["https://openalex.org/I2799730521","https://openalex.org/I2799890334"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Zhuoyang Zou","raw_affiliation_strings":["Centre for Transport Studies, Department of Civil and Environmental Engineering, Imperial College London, South Kensington Campus, London SW7 2BU, UK","College of Biomedical Engineering and Instrument Science, Zhejiang University, Hangzhou 310027, China"],"affiliations":[{"raw_affiliation_string":"Centre for Transport Studies, Department of Civil and Environmental Engineering, Imperial College London, South Kensington Campus, London SW7 2BU, UK","institution_ids":["https://openalex.org/I2799890334","https://openalex.org/I47508984"]},{"raw_affiliation_string":"College of Biomedical Engineering and Instrument Science, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100609457","display_name":"Wenrui Wang","orcid":"https://orcid.org/0000-0002-7723-7327"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenrui Wang","raw_affiliation_strings":["School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008639743","display_name":"Bin Wu","orcid":"https://orcid.org/0000-0001-9401-219X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Wu","raw_affiliation_strings":["College of Biomedical Engineering and Instrument Science, Zhejiang University, Hangzhou 310027, China"],"affiliations":[{"raw_affiliation_string":"College of Biomedical Engineering and Instrument Science, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052730446","display_name":"Lingyun Ye","orcid":"https://orcid.org/0000-0002-3260-5157"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingyun Ye","raw_affiliation_strings":["College of Biomedical Engineering and Instrument Science, Zhejiang University, Hangzhou 310027, China"],"affiliations":[{"raw_affiliation_string":"College of Biomedical Engineering and Instrument Science, Zhejiang University, Hangzhou 310027, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031769699","display_name":"Washington Y. Ochieng","orcid":"https://orcid.org/0000-0002-6762-8746"},"institutions":[{"id":"https://openalex.org/I2799890334","display_name":"Transport for London","ror":"https://ror.org/03vnshb93","country_code":"GB","type":"government","lineage":["https://openalex.org/I2799730521","https://openalex.org/I2799890334"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Washington Yotto Ochieng","raw_affiliation_strings":["Centre for Transport Studies, Department of Civil and Environmental Engineering, Imperial College London, South Kensington Campus, London SW7 2BU, UK"],"affiliations":[{"raw_affiliation_string":"Centre for Transport Studies, Department of Civil and Environmental Engineering, Imperial College London, South Kensington Campus, London SW7 2BU, UK","institution_ids":["https://openalex.org/I2799890334","https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100609457"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":0.5934,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.64349099,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"15","issue":"7","first_page":"1854","last_page":"1854"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11698","display_name":"Underwater Acoustics Research","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9970999956130981,"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/computer-science","display_name":"Computer science","score":0.7776265144348145},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.7142571806907654},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6451377868652344},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5935425758361816},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5477842092514038},{"id":"https://openalex.org/keywords/air-navigation","display_name":"Air navigation","score":0.4768846333026886},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.42991289496421814},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4173501133918762},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.4164167642593384},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.35957562923431396},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3360744118690491},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26397353410720825},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.14950066804885864},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.11171719431877136},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10455238819122314},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07521185278892517}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7776265144348145},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7142571806907654},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6451377868652344},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5935425758361816},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5477842092514038},{"id":"https://openalex.org/C504623915","wikidata":"https://www.wikidata.org/wiki/Q1427822","display_name":"Air navigation","level":3,"score":0.4768846333026886},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.42991289496421814},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4173501133918762},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.4164167642593384},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.35957562923431396},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3360744118690491},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26397353410720825},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.14950066804885864},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.11171719431877136},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10455238819122314},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07521185278892517},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs15071854","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15071854","pdf_url":"https://www.mdpi.com/2072-4292/15/7/1854/pdf?version=1680179063","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:6043a43410cc4502882c010fd22ba0c9","is_oa":true,"landing_page_url":"https://doaj.org/article/6043a43410cc4502882c010fd22ba0c9","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 15, Iss 7, p 1854 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/15/7/1854/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs15071854","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 15; Issue 7; Pages: 1854","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs15071854","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15071854","pdf_url":"https://www.mdpi.com/2072-4292/15/7/1854/pdf?version=1680179063","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":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4362519175.pdf","grobid_xml":"https://content.openalex.org/works/W4362519175.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1573862540","https://openalex.org/W1772636861","https://openalex.org/W1969142081","https://openalex.org/W1975347782","https://openalex.org/W1988023802","https://openalex.org/W1990436232","https://openalex.org/W2002893797","https://openalex.org/W2011689676","https://openalex.org/W2024750756","https://openalex.org/W2087688315","https://openalex.org/W2103807524","https://openalex.org/W2118476570","https://openalex.org/W2128832103","https://openalex.org/W2145654359","https://openalex.org/W2168502273","https://openalex.org/W2211347087","https://openalex.org/W2271443988","https://openalex.org/W2296816139","https://openalex.org/W2401759074","https://openalex.org/W2506509707","https://openalex.org/W2737462832","https://openalex.org/W2737943703","https://openalex.org/W2750657056","https://openalex.org/W2766989465","https://openalex.org/W2768138670","https://openalex.org/W2809685089","https://openalex.org/W2909246941","https://openalex.org/W2911415904","https://openalex.org/W3002532022","https://openalex.org/W3027441624","https://openalex.org/W3083500853","https://openalex.org/W3197569739","https://openalex.org/W4214495737","https://openalex.org/W4285144169","https://openalex.org/W4285277514","https://openalex.org/W4288345475","https://openalex.org/W4307261857","https://openalex.org/W6637677336","https://openalex.org/W6840475449"],"related_works":["https://openalex.org/W2393072194","https://openalex.org/W2911684682","https://openalex.org/W3006218776","https://openalex.org/W3009184496","https://openalex.org/W967168280","https://openalex.org/W2022695726","https://openalex.org/W3043399618","https://openalex.org/W2527038918","https://openalex.org/W3176835059","https://openalex.org/W4296046503"],"abstract_inverted_index":{"Unlike":[0],"aerial":[1],"or":[2],"terrestrial":[3],"navigation,":[4,110,131],"the":[5,30,40,75,79,83,91,132,156,162,169],"global":[6],"navigation":[7,25,60,87,163],"satellite":[8],"system":[9,26,34],"(GNSS)":[10],"is":[11,16,43,96,99,136],"not":[12],"available":[13],"underwater.":[14],"This":[15],"a":[17,56,147],"big":[18],"challenge":[19],"for":[20],"underwater":[21,151],"navigation.":[22],"The":[23,138],"inertial":[24],"(INS)":[27],"aided":[28,121],"by":[29,45,49],"single-beacon":[31],"acoustic":[32,158],"positioning":[33],"(APS)":[35],"provides":[36],"one":[37],"solution,":[38],"but":[39],"long-range":[41],"case":[42],"limited":[44],"low-SNR":[46],"conditions.":[47],"Inspired":[48],"passive":[50,157],"synthetic":[51,111],"aperture":[52],"detection,":[53],"we":[54],"proposed":[55,133],"new":[57,148],"tightly":[58,84,107,170],"coupled":[59,85,108,171],"algorithm":[61,115],"based":[62,127],"on":[63,90],"spatial":[64],"synthesis":[65],"and":[66,82,116],"one-way-travel-time":[67],"(OWTT)":[68],"range":[69],"measurement.":[70],"We":[71],"design":[72],"two":[73],"estimators:":[74],"DOA/range":[76],"estimator":[77],"using":[78],"model-based":[80],"method":[81,160,172],"INS/APS":[86,109],"estimator.":[88],"Based":[89],"improved":[92],"UKF,":[93],"all":[94],"information":[95],"combined.":[97],"Simulation":[98],"carried":[100],"out":[101],"in":[102,161],"MATLAB.":[103],"Compared":[104],"with":[105],"range-only":[106],"long":[112],"baseline":[113],"(SLBL)":[114],"Doppler":[117],"velocity":[118],"logger":[119],"(DVL)":[120],"centralized":[122],"extended":[123],"Kalman":[124],"filter":[125],"(CEKF)":[126],"single":[128],"beacon":[129],"INS/OWTT":[130],"method\u2019s":[134],"performance":[135],"proven.":[137],"main":[139],"contributions":[140],"of":[141,150],"this":[142],"work":[143],"are:":[144],"(1).":[145],"Propose":[146],"architecture":[149],"integrated":[152],"navigation;":[153],"(2).":[154],"Apply":[155,168],"detecting":[159],"to":[164,173],"improve":[165,174],"accuracy.":[166],"(3).":[167],"availability.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}