{"id":"https://openalex.org/W2782950731","doi":"https://doi.org/10.3390/s18010137","title":"Fast Alignment of SINS for Marching Vehicles Based on Multi-Vectors of Velocity Aided by GPS and Odometer","display_name":"Fast Alignment of SINS for Marching Vehicles Based on Multi-Vectors of Velocity Aided by GPS and Odometer","publication_year":2018,"publication_date":"2018-01-05","ids":{"openalex":"https://openalex.org/W2782950731","doi":"https://doi.org/10.3390/s18010137","mag":"2782950731","pmid":"https://pubmed.ncbi.nlm.nih.gov/29304030"},"language":"en","primary_location":{"id":"doi:10.3390/s18010137","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18010137","pdf_url":"https://www.mdpi.com/1424-8220/18/1/137/pdf?version=1515389323","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/1424-8220/18/1/137/pdf?version=1515389323","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049823434","display_name":"Chunxi Zhang","orcid":"https://orcid.org/0000-0002-8483-6897"},"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":"Chunxi Zhang","raw_affiliation_strings":["School of Instrumentation Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027223030","display_name":"Longjun Ran","orcid":"https://orcid.org/0000-0003-3993-0910"},"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":"Longjun Ran","raw_affiliation_strings":["School of Instrumentation Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015325288","display_name":"Lailiang Song","orcid":"https://orcid.org/0000-0002-0176-3996"},"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":"Lailiang Song","raw_affiliation_strings":["School of Instrumentation Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Instrumentation Science and Opto-electronics Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5015325288"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":10.5254,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.97552404,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"18","issue":"1","first_page":"137","last_page":"137"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9933000206947327,"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":0.9835000038146973,"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/odometer","display_name":"Odometer","score":0.9221677184104919},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.6988375186920166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6603768467903137},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.654137134552002},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5988335013389587},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5211789011955261},{"id":"https://openalex.org/keywords/azimuth","display_name":"Azimuth","score":0.5100032091140747},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.506009042263031},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.49249109625816345},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4637297987937927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4354103207588196},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4273533225059509},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4209282696247101},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.41303086280822754},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.30091148614883423},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23111018538475037},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08867272734642029},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07820817828178406}],"concepts":[{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.9221677184104919},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.6988375186920166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6603768467903137},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.654137134552002},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5988335013389587},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5211789011955261},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.5100032091140747},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.506009042263031},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.49249109625816345},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4637297987937927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4354103207588196},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4273533225059509},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4209282696247101},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.41303086280822754},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.30091148614883423},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23111018538475037},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08867272734642029},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07820817828178406},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s18010137","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18010137","pdf_url":"https://www.mdpi.com/1424-8220/18/1/137/pdf?version=1515389323","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:29304030","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29304030","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:b2199e62ccf14c5da1907205d7b2fe35","is_oa":true,"landing_page_url":"https://doaj.org/article/b2199e62ccf14c5da1907205d7b2fe35","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 18, Iss 1, p 137 (2018)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:4717989","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5795846","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:/1424-8220/18/1/137/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s18010137","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 18; Issue 1; Pages: 137","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s18010137","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18010137","pdf_url":"https://www.mdpi.com/1424-8220/18/1/137/pdf?version=1515389323","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":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2782950731.pdf","grobid_xml":"https://content.openalex.org/works/W2782950731.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1525013557","https://openalex.org/W1564768010","https://openalex.org/W1612040690","https://openalex.org/W1967244156","https://openalex.org/W1984946028","https://openalex.org/W1995043610","https://openalex.org/W2002298843","https://openalex.org/W2003694312","https://openalex.org/W2010337011","https://openalex.org/W2015774487","https://openalex.org/W2027491148","https://openalex.org/W2031834296","https://openalex.org/W2035765374","https://openalex.org/W2042414327","https://openalex.org/W2050100173","https://openalex.org/W2053198102","https://openalex.org/W2062493778","https://openalex.org/W2065979867","https://openalex.org/W2069693317","https://openalex.org/W2106069561","https://openalex.org/W2106171319","https://openalex.org/W2120044206","https://openalex.org/W2122033835","https://openalex.org/W2124997408","https://openalex.org/W2127683304","https://openalex.org/W2144007809","https://openalex.org/W2144023608","https://openalex.org/W2313260612","https://openalex.org/W2322239460","https://openalex.org/W2351396163","https://openalex.org/W2557981704","https://openalex.org/W6705877327"],"related_works":["https://openalex.org/W2952426663","https://openalex.org/W2038430283","https://openalex.org/W2992410632","https://openalex.org/W4309766231","https://openalex.org/W4205459552","https://openalex.org/W3005570398","https://openalex.org/W2768717251","https://openalex.org/W2025756212","https://openalex.org/W3005892436","https://openalex.org/W2356818805"],"abstract_inverted_index":{"In":[0,65,169],"the":[1,7,31,34,39,68,73,79,82,86,95,101,104,111,148,155,164,175,180,185,197,219,228],"strap-down":[2],"inertial":[3,83],"navigation":[4],"system":[5],"(SINS),":[6],"initial":[8,87],"attitude":[9,74,113,204],"matrix":[10,75,80],"is":[11,76,133,143,177],"acquired":[12],"through":[13,94],"alignment.":[14],"Though":[15],"there":[16],"were":[17],"multiple":[18],"valid":[19],"methods,":[20,158],"alignment":[21,57,157,182,188,199],"time":[22],"and":[23,85,103,184,191,217],"accuracy":[24,220],"are":[25],"still":[26],"core":[27,69],"issues,":[28],"especially":[29],"regarding":[30],"condition":[32],"of":[33,41,71,117,129,131,150,167,213],"motion":[35],"carrier.":[36],"Inspired":[37],"by":[38,45,123],"idea":[40],"constructing":[42],"nonlinear":[43,96],"vectors":[44],"velocity":[46,97],"in":[47,63,135,206],"a":[48,60,124,224],"different":[49,107],"coordinate":[50],"frame,":[51,89],"this":[52,66,159],"paper":[53],"proposes":[54],"an":[55,140,203,210],"innovative":[56],"method":[58,142,160,176,183,200],"for":[59],"vehicle-mounted":[61],"SINS":[62],"motion.":[64],"method,":[67],"issue":[70],"acquiring":[72],"to":[77,146,171],"calculate":[78],"between":[81],"frame":[84],"body":[88],"which":[90,109,139],"can":[91,119,201],"be":[92,121],"constructed":[93],"vectors'":[98],"information":[99,166],"from":[100],"GPS":[102],"odometer":[105],"at":[106],"moments,":[108],"denominate":[110],"multi-vector":[112],"determination.":[114],"The":[115,127],"possibility":[116],"collinearity":[118],"easily":[120],"avoided":[122],"turning":[125],"movement.":[126],"characteristic":[128],"propagation":[130],"error":[132,212],"analyzed":[134],"detail,":[136],"based":[137],"on":[138],"improved":[141],"put":[144],"forward":[145],"depress":[147],"effect":[149],"random":[151],"noise.":[152],"Compared":[153],"with":[154,179,209,227],"existing":[156],"does":[161,221],"not":[162,222],"use":[163],"measurement":[165],"accelerometers.":[168],"order":[170],"demonstrate":[172],"its":[173],"performance,":[174],"compared":[178],"two-position":[181],"traditional":[186],"two-stage":[187],"method.":[189],"Simulation":[190],"vehicle-based":[192],"experiment":[193],"results":[194],"show":[195],"that":[196,218],"proposed":[198],"establish":[202],"reference":[205],"100":[207],"s":[208],"azimuth":[211],"less":[214],"than":[215],"0.06\u00b0,":[216],"have":[223],"strong":[225],"correlation":[226],"accelerometer.":[229]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"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"}
