{"id":"https://openalex.org/W2753754860","doi":"https://doi.org/10.3390/s17092032","title":"An Adaptive Low-Cost INS/GNSS Tightly-Coupled Integration Architecture Based on Redundant Measurement Noise Covariance Estimation","display_name":"An Adaptive Low-Cost INS/GNSS Tightly-Coupled Integration Architecture Based on Redundant Measurement Noise Covariance Estimation","publication_year":2017,"publication_date":"2017-09-05","ids":{"openalex":"https://openalex.org/W2753754860","doi":"https://doi.org/10.3390/s17092032","mag":"2753754860","pmid":"https://pubmed.ncbi.nlm.nih.gov/28872629"},"language":"en","primary_location":{"id":"doi:10.3390/s17092032","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17092032","pdf_url":"https://www.mdpi.com/1424-8220/17/9/2032/pdf?version=1504688222","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","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/17/9/2032/pdf?version=1504688222","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100415063","display_name":"Zheng Li","orcid":"https://orcid.org/0000-0003-4455-0808"},"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":"Zheng Li","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","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 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004792893","display_name":"Qifan Zhou","orcid":"https://orcid.org/0000-0002-5036-1934"},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]},{"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":["CA","CN"],"is_corresponding":true,"raw_author_name":"Qifan Zhou","raw_affiliation_strings":["Geomatics Engineering Department, University of Calgary, Calgary, AB T2N 1N4, Canada","School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Geomatics Engineering Department, University of Calgary, Calgary, AB T2N 1N4, Canada","institution_ids":["https://openalex.org/I168635309"]},{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064109176","display_name":"Huan Che","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huan Che","raw_affiliation_strings":["Space Star Technology Co. Ltd., CAST, Haidian District, Beijing 100086, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Space Star Technology Co. Ltd., CAST, Haidian District, Beijing 100086, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5004792893","https://openalex.org/A5100457322"],"corresponding_institution_ids":["https://openalex.org/I168635309","https://openalex.org/I82880672"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.6648,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.88278497,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"17","issue":"9","first_page":"2032","last_page":"2032"},"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":0.9998000264167786,"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":0.9998000264167786,"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/T10655","display_name":"GNSS positioning and interference","score":0.9997000098228455,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991000294685364,"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":0.8088135123252869},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6778990030288696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6306326985359192},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.627143383026123},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5406548380851746},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5383961796760559},{"id":"https://openalex.org/keywords/gps/ins","display_name":"GPS/INS","score":0.5343339443206787},{"id":"https://openalex.org/keywords/satellite-system","display_name":"Satellite system","score":0.48737555742263794},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.4784253239631653},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3828827738761902},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3512497842311859},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.34868454933166504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17908862233161926},{"id":"https://openalex.org/keywords/assisted-gps","display_name":"Assisted GPS","score":0.12777575850486755},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10558155179023743}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8088135123252869},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6778990030288696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6306326985359192},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.627143383026123},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5406548380851746},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5383961796760559},{"id":"https://openalex.org/C193183557","wikidata":"https://www.wikidata.org/wiki/Q195126","display_name":"GPS/INS","level":4,"score":0.5343339443206787},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.48737555742263794},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.4784253239631653},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3828827738761902},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3512497842311859},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.34868454933166504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17908862233161926},{"id":"https://openalex.org/C198613851","wikidata":"https://www.wikidata.org/wiki/Q432394","display_name":"Assisted GPS","level":3,"score":0.12777575850486755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10558155179023743},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s17092032","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17092032","pdf_url":"https://www.mdpi.com/1424-8220/17/9/2032/pdf?version=1504688222","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":"pmid:28872629","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28872629","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:42c3fb98e4d6481cbc4db9f53accdc25","is_oa":true,"landing_page_url":"https://doaj.org/article/42c3fb98e4d6481cbc4db9f53accdc25","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 17, Iss 9, p 2032 (2017)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/17/9/2032/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s17092032","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 17; Issue 9; Pages: 2032","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:5621381","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5621381","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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 (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s17092032","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17092032","pdf_url":"https://www.mdpi.com/1424-8220/17/9/2032/pdf?version=1504688222","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":[],"awards":[{"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/G6141442853","display_name":null,"funder_award_id":"61320106010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation 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":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2753754860.pdf","grobid_xml":"https://content.openalex.org/works/W2753754860.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W164858599","https://openalex.org/W366318930","https://openalex.org/W1564768010","https://openalex.org/W1981314715","https://openalex.org/W1992558361","https://openalex.org/W1996567593","https://openalex.org/W2002250418","https://openalex.org/W2030840930","https://openalex.org/W2033534992","https://openalex.org/W2047842548","https://openalex.org/W2048312361","https://openalex.org/W2059671830","https://openalex.org/W2060664350","https://openalex.org/W2070933692","https://openalex.org/W2090903674","https://openalex.org/W2091720999","https://openalex.org/W2105482660","https://openalex.org/W2108941477","https://openalex.org/W2109812091","https://openalex.org/W2111760637","https://openalex.org/W2123487311","https://openalex.org/W2124925800","https://openalex.org/W2137183867","https://openalex.org/W2139362983","https://openalex.org/W2139591575","https://openalex.org/W2149481071","https://openalex.org/W2156170806","https://openalex.org/W2158808323","https://openalex.org/W2166719470","https://openalex.org/W2181775191","https://openalex.org/W2187311498","https://openalex.org/W2200680720","https://openalex.org/W2221510318","https://openalex.org/W2294579545","https://openalex.org/W2296816139","https://openalex.org/W2331699772","https://openalex.org/W2349799912","https://openalex.org/W2492274413","https://openalex.org/W2580246494","https://openalex.org/W2934898074","https://openalex.org/W6679363951"],"related_works":["https://openalex.org/W2052432379","https://openalex.org/W3117915744","https://openalex.org/W768388283","https://openalex.org/W3106489079","https://openalex.org/W3130617165","https://openalex.org/W2606296569","https://openalex.org/W2375040471","https://openalex.org/W2068158190","https://openalex.org/W2030440043","https://openalex.org/W2916802843"],"abstract_inverted_index":{"The":[0,72,150,181],"main":[1],"objective":[2],"of":[3,33,69,91,101,140,176,191],"the":[4,66,99,102,138,141,154,161,167,172,177,199],"introduced":[5],"study":[6],"is":[7,76,115],"to":[8,79,97,117,136],"design":[9,80],"an":[10,34,108],"adaptive":[11,35,92,109],"Inertial":[12],"Navigation":[13,15],"System/Global":[14],"Satellite":[16],"System":[17],"(INS/GNSS)":[18],"tightly-coupled":[19,103,179],"integration":[20,104],"system":[21,70],"that":[22,153],"can":[23,170,184],"provide":[24],"more":[25],"reliable":[26],"navigation":[27],"solutions":[28],"by":[29,64],"making":[30],"full":[31],"use":[32],"Kalman":[36,94],"filter":[37,95],"(AKF)":[38],"and":[39,88,124,131,144,166,174,196],"satellite":[40,85],"selection":[41,86],"algorithm.":[42],"To":[43],"achieve":[44],"this":[45],"goal,":[46],"we":[47],"develop":[48],"a":[49,82,89,157],"novel":[50],"redundant":[51],"measurement":[52,61,110,162,194],"noise":[53,62,111,163],"covariance":[54,112,164],"estimation":[55,165],"(RMNCE)":[56],"theorem,":[57],"which":[58],"adaptively":[59],"estimates":[60],"properties":[63],"analyzing":[65],"difference":[67],"sequences":[68],"measurements.":[71],"proposed":[73,142,168,182],"RMNCE":[74,155],"approach":[75],"then":[77],"applied":[78],"both":[81],"modified":[83],"weighted":[84],"algorithm":[87,114],"type":[90],"unscented":[93],"(UKF)":[96],"improve":[98,171],"performance":[100,139],"system.":[105],"In":[106],"addition,":[107],"expanding":[113],"developed":[116],"mitigate":[118],"outliers":[119],"when":[120],"facing":[121],"heavy":[122],"multipath":[123],"other":[125],"harsh":[126],"situations.":[127],"Both":[128],"semi-physical":[129],"simulation":[130],"field":[132],"experiments":[133],"were":[134,145],"conducted":[135],"evaluate":[137],"architecture":[143,169,183],"compared":[146,200],"with":[147],"state-of-the-art":[148],"algorithms.":[149],"results":[151],"validate":[152],"provides":[156],"significant":[158],"improvement":[159],"in":[160],"accuracy":[173],"reliability":[175],"INS/GNSS":[178],"systems.":[180],"effectively":[185],"limit":[186],"positioning":[187],"errors":[188],"under":[189],"conditions":[190],"poor":[192],"GNSS":[193],"quality":[195],"outperforms":[197],"all":[198],"schemes.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
