{"id":"https://openalex.org/W2059956427","doi":"https://doi.org/10.3390/s131215937","title":"Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing","display_name":"Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing","publication_year":2013,"publication_date":"2013-11-25","ids":{"openalex":"https://openalex.org/W2059956427","doi":"https://doi.org/10.3390/s131215937","mag":"2059956427"},"language":"en","primary_location":{"id":"doi:10.3390/s131215937","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s131215937","pdf_url":"https://www.mdpi.com/1424-8220/13/12/15937/pdf?version=1403339152","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/13/12/15937/pdf?version=1403339152","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068847367","display_name":"Yuan Xu","orcid":"https://orcid.org/0000-0002-5966-945X"},"institutions":[{"id":"https://openalex.org/I4210100356","display_name":"Ministry of Education","ror":"https://ror.org/018f7hf93","country_code":"CL","type":"government","lineage":["https://openalex.org/I4210100356"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CL","CN"],"is_corresponding":false,"raw_author_name":"Yuan Xu","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096,  China","Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096,  China","institution_ids":["https://openalex.org/I4210100356"]},{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005770087","display_name":"Xiyuan Chen","orcid":"https://orcid.org/0000-0002-1770-8529"},"institutions":[{"id":"https://openalex.org/I4210100356","display_name":"Ministry of Education","ror":"https://ror.org/018f7hf93","country_code":"CL","type":"government","lineage":["https://openalex.org/I4210100356"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CL","CN"],"is_corresponding":true,"raw_author_name":"Xiyuan Chen","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096,  China","Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"raw_orcid":"https://orcid.org/0000-0002-1770-8529","affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096,  China","institution_ids":["https://openalex.org/I4210100356"]},{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101927778","display_name":"Qinghua Li","orcid":"https://orcid.org/0000-0002-1197-6952"},"institutions":[{"id":"https://openalex.org/I4210100356","display_name":"Ministry of Education","ror":"https://ror.org/018f7hf93","country_code":"CL","type":"government","lineage":["https://openalex.org/I4210100356"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CL","CN"],"is_corresponding":false,"raw_author_name":"Qinghua Li","raw_affiliation_strings":["Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096,  China","Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096,  China","institution_ids":["https://openalex.org/I4210100356"]},{"raw_affiliation_string":"Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005770087"],"corresponding_institution_ids":["https://openalex.org/I4210100356","https://openalex.org/I76569877"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":1.0272,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.79676536,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"13","issue":"12","first_page":"15937","last_page":"15953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9846000075340271,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9815999865531921,"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/smoothing","display_name":"Smoothing","score":0.8030872344970703},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6441870927810669},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5808717608451843},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4896419644355774},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.47185182571411133},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4698072075843811},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.46896496415138245},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4586818516254425},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44094011187553406},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4363185167312622},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39796173572540283},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3736517131328583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25686222314834595},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.2468094527721405},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1621561348438263},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13514211773872375}],"concepts":[{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.8030872344970703},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6441870927810669},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5808717608451843},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4896419644355774},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.47185182571411133},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4698072075843811},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.46896496415138245},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4586818516254425},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44094011187553406},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4363185167312622},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39796173572540283},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3736517131328583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25686222314834595},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.2468094527721405},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1621561348438263},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13514211773872375},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s131215937","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s131215937","pdf_url":"https://www.mdpi.com/1424-8220/13/12/15937/pdf?version=1403339152","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:3d755726df054b7484ffa00ac5a380b7","is_oa":true,"landing_page_url":"https://doaj.org/article/3d755726df054b7484ffa00ac5a380b7","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 13, Iss 12, Pp 15937-15953 (2013)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:2881095","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3892347","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/13/12/15937/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s131215937","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":"Sensors; Volume 13; Issue 12; Pages: 15937-15953","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s131215937","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s131215937","pdf_url":"https://www.mdpi.com/1424-8220/13/12/15937/pdf?version=1403339152","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2059956427.pdf"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1712838970","https://openalex.org/W2006719710","https://openalex.org/W2009659616","https://openalex.org/W2015555255","https://openalex.org/W2021004746","https://openalex.org/W2052968299","https://openalex.org/W2070027626","https://openalex.org/W2076523836","https://openalex.org/W2079251198","https://openalex.org/W2088014597","https://openalex.org/W2090178842","https://openalex.org/W2094227853","https://openalex.org/W2103305579","https://openalex.org/W2129912474","https://openalex.org/W2131375034","https://openalex.org/W2139017160","https://openalex.org/W2141882927","https://openalex.org/W2147213299","https://openalex.org/W2156793801","https://openalex.org/W3083115279","https://openalex.org/W6637708615","https://openalex.org/W6668302657"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W1978572805","https://openalex.org/W2383807498","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W4313886815","https://openalex.org/W2068384470","https://openalex.org/W2026704625","https://openalex.org/W2773722138","https://openalex.org/W2038183074"],"abstract_inverted_index":{"In":[0,41],"order":[1,75],"to":[2,62,76,97],"reduce":[3],"the":[4,8,57,64,67,71,78,85,99,102,109,116,120],"estimated":[5],"errors":[6,117],"of":[7,56,66,101],"inertial":[9,32],"navigation":[10,16],"system":[11],"(INS)/Wireless":[12],"sensor":[13],"network":[14],"(WSN)-integrated":[15],"for":[17,70],"mobile":[18],"robots":[19],"indoors,":[20],"this":[21,42],"work":[22],"proposes":[23],"an":[24,37,44],"on-line":[25,79],"iterated":[26,45],"extended":[27],"Rauch-Tung-Striebel":[28,59],"smoothing":[29,60],"(IERTSS)":[30],"utilizing":[31],"measuring":[33],"units":[34],"(IMUs)":[35],"and":[36],"ultrasonic":[38],"positioning":[39],"system.":[40],"mode,":[43],"Extended":[46,58],"Kalman":[47],"filter":[48],"(IEKF)":[49],"is":[50,82,112],"used":[51],"in":[52,74,114],"forward":[53],"data":[54],"processing":[55],"(ERTSS)":[61],"improve":[63],"accuracy":[65],"filtering":[68],"output":[69],"smoother.":[72],"Furthermore,":[73],"achieve":[77],"smoothing,":[80],"IERTSS":[81],"embedded":[83],"into":[84],"average":[86],"filter.":[87],"For":[88],"verification,":[89],"a":[90],"real":[91],"indoor":[92],"test":[93],"has":[94],"been":[95],"done":[96],"assess":[98],"performance":[100],"proposed":[103,110],"method.":[104],"The":[105],"results":[106],"show":[107],"that":[108],"method":[111],"effective":[113],"reducing":[115],"compared":[118],"with":[119],"conventional":[121],"schemes.":[122]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2016-06-24T00:00:00"}
