{"id":"https://openalex.org/W4392510184","doi":"https://doi.org/10.3390/rs16050926","title":"A Multi-Step Pseudo-Measurement Adaptive Kalman Filter Based on Filtering Performance Evaluation and Its Application in the INS/GNSS Navigation System","display_name":"A Multi-Step Pseudo-Measurement Adaptive Kalman Filter Based on Filtering Performance Evaluation and Its Application in the INS/GNSS Navigation System","publication_year":2024,"publication_date":"2024-03-06","ids":{"openalex":"https://openalex.org/W4392510184","doi":"https://doi.org/10.3390/rs16050926"},"language":"en","primary_location":{"id":"doi:10.3390/rs16050926","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16050926","pdf_url":"https://www.mdpi.com/2072-4292/16/5/926/pdf?version=1709722097","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/2072-4292/16/5/926/pdf?version=1709722097","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101904507","display_name":"Dapeng Wang","orcid":"https://orcid.org/0000-0003-3319-3593"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dapeng Wang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100083, China","School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100083, China;"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100083, China;","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100457322","display_name":"Hai Zhang","orcid":"https://orcid.org/0000-0001-7654-5718"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hai Zhang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100083, China","Science and Technology on Aircraft Control Laboratory, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100083, China","School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100083, China;"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Science and Technology on Aircraft Control Laboratory, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100083, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100083, China;","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100457322"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":2.3542,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89406321,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"16","issue":"5","first_page":"926","last_page":"926"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994999766349792,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9994999766349792,"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":0.9962999820709229,"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":0.8305691480636597},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7252905964851379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6402374505996704},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.41926777362823486},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3868813216686249},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3329927921295166},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.28833574056625366},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17597311735153198},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11164027452468872},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10244384407997131}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8305691480636597},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7252905964851379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6402374505996704},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.41926777362823486},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3868813216686249},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3329927921295166},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.28833574056625366},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17597311735153198},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11164027452468872},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10244384407997131}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/rs16050926","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16050926","pdf_url":"https://www.mdpi.com/2072-4292/16/5/926/pdf?version=1709722097","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:6193169190cf475d8cd29e4ddafa000d","is_oa":true,"landing_page_url":"https://doaj.org/article/6193169190cf475d8cd29e4ddafa000d","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 16, Iss 5, p 926 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/rs16050926","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16050926","pdf_url":"https://www.mdpi.com/2072-4292/16/5/926/pdf?version=1709722097","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":"Sustainable cities and communities","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1069049545","display_name":null,"funder_award_id":"2017YFC0821102","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G1792840283","display_name":null,"funder_award_id":"2016YFB0502004","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G466649759","display_name":null,"funder_award_id":"2017Y","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5053610798","display_name":null,"funder_award_id":"2017YFC","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5593350167","display_name":null,"funder_award_id":"2016YFB050200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6984815694","display_name":null,"funder_award_id":"62373031","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8114646031","display_name":null,"funder_award_id":"2016Y","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8340078520","display_name":null,"funder_award_id":"2017YF","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392510184.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W164858599","https://openalex.org/W1951532934","https://openalex.org/W1973131250","https://openalex.org/W1974209183","https://openalex.org/W1994691007","https://openalex.org/W2012202999","https://openalex.org/W2048312361","https://openalex.org/W2056698770","https://openalex.org/W2067170332","https://openalex.org/W2146230273","https://openalex.org/W2272130679","https://openalex.org/W2586283453","https://openalex.org/W2634451211","https://openalex.org/W2737188128","https://openalex.org/W2753943696","https://openalex.org/W2781561575","https://openalex.org/W2793902216","https://openalex.org/W2922728516","https://openalex.org/W2999466041","https://openalex.org/W3011039333","https://openalex.org/W3018424141","https://openalex.org/W3095734770","https://openalex.org/W3207109209","https://openalex.org/W4200254172","https://openalex.org/W4210883894","https://openalex.org/W4285295360","https://openalex.org/W4298408646","https://openalex.org/W4312437675","https://openalex.org/W4319663070","https://openalex.org/W4327862217","https://openalex.org/W4386054207"],"related_works":["https://openalex.org/W4386936491","https://openalex.org/W3007931018","https://openalex.org/W3110195467","https://openalex.org/W3033823235","https://openalex.org/W2881093137","https://openalex.org/W4386787199","https://openalex.org/W4384916587","https://openalex.org/W2163330330","https://openalex.org/W2390992067","https://openalex.org/W2109891302"],"abstract_inverted_index":{"The":[0],"objective":[1],"of":[2,10,15,59,80,90,104,114,118,124],"this":[3],"paper":[4],"is":[5,73,84,108,127],"to":[6,155],"tackle":[7],"the":[8,11,16,52,60,66,77,81,87,102,105,112,115,122,125,156,167,171,193],"issue":[9],"degraded":[12],"navigation":[13,18,20,25,139,146],"accuracy":[14,173,179,186],"inertial":[17],"system/global":[19],"satellite":[21],"system":[22,26],"(INS/GNSS)":[23],"integrated":[24,138],"in":[27,145,192],"urban":[28,194],"applications,":[29],"especially":[30],"under":[31],"complex":[32],"environments.":[33],"This":[34],"study":[35],"utilizes":[36],"historical":[37],"state":[38,91],"estimates":[39],"and":[40,64,92,151,159,176,182,184,189],"proposes":[41],"a":[42,95,130,135,142],"multi-step":[43,119],"pseudo-measurement":[44],"adaptive":[45,163],"Kalman":[46,164],"filter":[47,53,98,165],"(MPKF)":[48],"algorithm":[49,72,169],"based":[50],"on":[51],"performance":[54,99],"evaluation.":[55,100],"First,":[56],"taking":[57],"advantage":[58],"independence":[61],"between":[62],"INS":[63],"GNSS,":[65,82],"enhanced":[67,160],"second-order":[68],"mutual":[69],"difference":[70],"(SOMD)":[71],"utilized":[74],"for":[75,97],"estimating":[76],"noise":[78,116],"variance":[79,117],"which":[83],"decoupled":[85],"from":[86],"estimate":[88],"error":[89],"used":[93],"as":[94],"module":[96],"Then,":[101],"construction":[103],"proposed":[106,168],"method":[107],"presented,":[109],"together":[110],"with":[111],"analysis":[113],"pseudo-measurement.":[120],"Ultimately,":[121],"efficacy":[123],"MPKF":[126],"confirmed":[128],"through":[129],"real-world":[131],"vehicle":[132],"experiment":[133],"involving":[134],"tightly-coupled":[136],"INS/GNSS":[137],"application,":[140],"demonstrating":[141],"noteworthy":[143],"enhancement":[144],"precision":[147],"within":[148],"densely":[149],"wooded":[150],"built-up":[152],"areas.":[153],"Compared":[154],"standard":[157],"EKF":[158],"redundant":[161],"measurement-based":[162],"(ERMAKF),":[166],"improves":[170],"positioning":[172],"by":[174,180,187],"48%":[175],"34%,":[177],"velocity":[178],"50%":[181],"35%,":[183],"attitude":[185],"38%":[188],"48%,":[190],"respectively,":[191],"building":[195],"segment.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}