{"id":"https://openalex.org/W4405496192","doi":"https://doi.org/10.3390/rs16244716","title":"Gaussian\u2013Student\u2019s t Mixture Distribution-Based Robust Kalman Filter for Global Navigation Satellite System/Inertial Navigation System/Odometer Data Fusion","display_name":"Gaussian\u2013Student\u2019s t Mixture Distribution-Based Robust Kalman Filter for Global Navigation Satellite System/Inertial Navigation System/Odometer Data Fusion","publication_year":2024,"publication_date":"2024-12-17","ids":{"openalex":"https://openalex.org/W4405496192","doi":"https://doi.org/10.3390/rs16244716"},"language":"en","primary_location":{"id":"doi:10.3390/rs16244716","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16244716","pdf_url":"https://www.mdpi.com/2072-4292/16/24/4716/pdf?version=1734445587","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/2072-4292/16/24/4716/pdf?version=1734445587","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084594581","display_name":"Jiaji Wu","orcid":"https://orcid.org/0000-0002-8314-8419"},"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":"Jiaji Wu","raw_affiliation_strings":["Electronic Information School, Wuhan University, Wuhan 430079, China","GNSS Research Center, Wuhan University, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"Electronic Information School, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]},{"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":false,"raw_author_name":"Jinguang Jiang","raw_affiliation_strings":["Electronic Information School, Wuhan University, Wuhan 430079, China","GNSS Research Center, Wuhan University, Wuhan 430079, China","Hubei Luojia Laboratory, Wuhan University, Wuhan 430079, China","School of Microelectronics, Wuhan University, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"Electronic Information School, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"GNSS Research Center, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"Hubei Luojia Laboratory, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Microelectronics, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","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":["Electronic Information School, Wuhan University, Wuhan 430079, China","GNSS Research Center, Wuhan University, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"Electronic Information School, Wuhan University, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]},{"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/A5101694606","display_name":"Jianghua Liu","orcid":"https://orcid.org/0000-0002-9974-328X"},"institutions":[{"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":true,"raw_author_name":"Jianghua Liu","raw_affiliation_strings":["School of Electronics and Information Engineering, Hubei University of Science and Technology, Xianning 437099, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Hubei University of Science and Technology, Xianning 437099, China","institution_ids":["https://openalex.org/I4210101555"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101694606"],"corresponding_institution_ids":["https://openalex.org/I4210101555"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":2.1615,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.89759772,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"16","issue":"24","first_page":"4716","last_page":"4716"},"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":0.9986000061035156,"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":0.9986000061035156,"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/T11901","display_name":"Bayesian Methods and Mixture Models","score":0.9483000040054321,"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/T12879","display_name":"Distributed Sensor Networks and Detection Algorithms","score":0.9200999736785889,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.9190566539764404},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6852073073387146},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5942682027816772},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5558023452758789},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5321611166000366},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5085493326187134},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.47349342703819275},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.44718092679977417},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.43996092677116394},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4352272152900696},{"id":"https://openalex.org/keywords/satellite","display_name":"Satellite","score":0.4198254346847534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3902062177658081},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37736231088638306},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.35314714908599854},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.22519806027412415},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20236405730247498},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.18554964661598206},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11272627115249634},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10591039061546326},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08539944887161255}],"concepts":[{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.9190566539764404},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6852073073387146},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5942682027816772},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5558023452758789},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5321611166000366},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5085493326187134},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.47349342703819275},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.44718092679977417},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.43996092677116394},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4352272152900696},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.4198254346847534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3902062177658081},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37736231088638306},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.35314714908599854},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.22519806027412415},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20236405730247498},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.18554964661598206},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11272627115249634},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10591039061546326},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08539944887161255},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/rs16244716","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16244716","pdf_url":"https://www.mdpi.com/2072-4292/16/24/4716/pdf?version=1734445587","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:84438125b0334bb8a292890cf72eed63","is_oa":true,"landing_page_url":"https://doaj.org/article/84438125b0334bb8a292890cf72eed63","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 24, p 4716 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/rs16244716","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16244716","pdf_url":"https://www.mdpi.com/2072-4292/16/24/4716/pdf?version=1734445587","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":[],"funders":[{"id":"https://openalex.org/F4320329781","display_name":"Hubei University","ror":"https://ror.org/03a60m280"},{"id":"https://openalex.org/F4320329782","display_name":"Hubei University of Science and Technology","ror":"https://ror.org/018wg9441"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4405496192.pdf"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1998727970","https://openalex.org/W2000721204","https://openalex.org/W2012526720","https://openalex.org/W2027881735","https://openalex.org/W2517464434","https://openalex.org/W2537856558","https://openalex.org/W2575097171","https://openalex.org/W2737188128","https://openalex.org/W2749496335","https://openalex.org/W2755612459","https://openalex.org/W2767316888","https://openalex.org/W2784746634","https://openalex.org/W2903756851","https://openalex.org/W2944846513","https://openalex.org/W2945108092","https://openalex.org/W3008376276","https://openalex.org/W3015083711","https://openalex.org/W3042459490","https://openalex.org/W3047395687","https://openalex.org/W3048916472","https://openalex.org/W3102389966","https://openalex.org/W3104261890","https://openalex.org/W3154871843","https://openalex.org/W3156850880","https://openalex.org/W3186518891","https://openalex.org/W3207446489","https://openalex.org/W3210405210","https://openalex.org/W4200508753","https://openalex.org/W4205438135","https://openalex.org/W4226141446","https://openalex.org/W4280510594","https://openalex.org/W4297903180","https://openalex.org/W4308135138","https://openalex.org/W4309786525","https://openalex.org/W4400403030","https://openalex.org/W4402841376","https://openalex.org/W6622745955","https://openalex.org/W6782173899"],"related_works":["https://openalex.org/W2392875882","https://openalex.org/W3044239796","https://openalex.org/W3001939774","https://openalex.org/W3005892436","https://openalex.org/W2356818805","https://openalex.org/W4236994605","https://openalex.org/W2358256220","https://openalex.org/W3005570398","https://openalex.org/W2321661726","https://openalex.org/W2008882664"],"abstract_inverted_index":{"Multi-source":[0],"heterogeneous":[1],"information":[2],"fusion":[3],"based":[4],"on":[5,130],"the":[6,22,35,59,66,73,91,101,110,124,131,155,161,175,194,202,207,227,232],"Global":[7],"Navigation":[8,12],"Satellite":[9],"System":[10,13],"(GNSS)/Inertial":[11],"(INS)/odometer":[14],"is":[15,40,88,107,140],"an":[16,50],"important":[17],"technical":[18],"means":[19],"to":[20,80,82,123],"solve":[21],"problem":[23],"of":[24,34,113,185,204,220],"navigation":[25,38],"and":[26,42,53,69,75,100,115,150,190,197,235,243],"positioning":[27,208],"in":[28,49,58,148,193,231],"complex":[29,41],"environments.":[30],"The":[31,85],"measurement":[32,67],"noise":[33,68],"GNSS/INS/odometer":[36],"integrated":[37],"system":[39],"non-stationary;":[43],"it":[44,54],"approximates":[45],"a":[46,134],"Gaussian":[47,74,93,104,114],"distribution":[48,79,87,165],"open-sky":[51],"environment,":[52],"has":[55,178,214],"heavy-tailed":[56,169],"properties":[57],"GNSS":[60,212,224],"challenging":[61,151,173],"environment.":[62],"This":[63],"work":[64],"models":[65],"one-step":[70],"prediction":[71],"as":[72,90],"Student\u2019s":[76,116],"t":[77,117,163],"mixture":[78,86,164],"adjust":[81,120],"different":[83],"scenarios.":[84],"formulated":[89],"hierarchical":[92,103],"form":[94],"by":[95,211],"introducing":[96],"Bernoulli":[97],"random":[98],"variables,":[99],"corresponding":[102],"state-space":[105],"model":[106,168],"constructed.":[108],"Then,":[109],"mixing":[111],"probability":[112],"distributions":[118],"could":[119],"adaptively":[121],"according":[122],"real-time":[125],"kinematic":[126],"solution":[127],"state.":[128],"Based":[129],"novel":[132],"distribution,":[133],"robust":[135,157],"variational":[136],"Bayesian":[137],"Kalman":[138,158],"filter":[139,159],"proposed.":[141],"Finally,":[142],"two":[143],"vehicle":[144],"test":[145],"cases":[146],"conducted":[147],"GNSS-friendly":[149],"environments":[152],"demonstrate":[153],"that":[154],"proposed":[156,176],"with":[160],"Gaussian\u2013Student\u2019s":[162],"can":[166],"better":[167],"non-Gaussian":[170],"noise.":[171],"In":[172],"environments,":[174],"algorithm":[177],"position":[179,229],"root":[180],"mean":[181],"square":[182],"(RMS)":[183],"errors":[184,230],"0.80":[186],"m,":[187,189,240,242,245],"0.62":[188],"0.65":[191],"m":[192],"north,":[195,233],"east,":[196,234],"down":[198,236],"directions,":[199],"respectively.":[200,246],"With":[201],"assistance":[203],"inertial":[205],"sensors,":[206],"gap":[209],"caused":[210],"outages":[213],"been":[215],"compensated.":[216],"During":[217],"seven":[218],"periods":[219],"60":[221],"s":[222],"simulated":[223],"data":[225],"outages,":[226],"RMS":[228],"directions":[237],"were":[238],"0.75":[239],"0.30":[241],"0.20":[244]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5}],"updated_date":"2026-03-11T06:11:40.159057","created_date":"2025-10-10T00:00:00"}