{"id":"https://openalex.org/W2800148498","doi":"https://doi.org/10.3390/s18051414","title":"A Sequential Multiplicative Extended Kalman Filter for Attitude Estimation Using Vector Observations","display_name":"A Sequential Multiplicative Extended Kalman Filter for Attitude Estimation Using Vector Observations","publication_year":2018,"publication_date":"2018-05-03","ids":{"openalex":"https://openalex.org/W2800148498","doi":"https://doi.org/10.3390/s18051414","mag":"2800148498","pmid":"https://pubmed.ncbi.nlm.nih.gov/29751538"},"language":"en","primary_location":{"id":"doi:10.3390/s18051414","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18051414","pdf_url":"https://www.mdpi.com/1424-8220/18/5/1414/pdf","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/1424-8220/18/5/1414/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015154357","display_name":"Fangjun Qin","orcid":"https://orcid.org/0000-0002-6777-2713"},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangjun Qin","raw_affiliation_strings":["Department of Navigation Engineering, Naval University of Engineering, Wuhan 430000, China"],"affiliations":[{"raw_affiliation_string":"Department of Navigation Engineering, Naval University of Engineering, Wuhan 430000, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040264433","display_name":"Lubin Chang","orcid":"https://orcid.org/0000-0002-6705-3401"},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lubin Chang","raw_affiliation_strings":["Department of Navigation Engineering, Naval University of Engineering, Wuhan 430000, China"],"affiliations":[{"raw_affiliation_string":"Department of Navigation Engineering, Naval University of Engineering, Wuhan 430000, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010378190","display_name":"Sai Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sai Jiang","raw_affiliation_strings":["Office of Research and Development, Naval University of Engineering, Wuhan 430000, China"],"affiliations":[{"raw_affiliation_string":"Office of Research and Development, Naval University of Engineering, Wuhan 430000, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006970645","display_name":"Feng Zha","orcid":"https://orcid.org/0000-0002-1864-6876"},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Zha","raw_affiliation_strings":["Department of Navigation Engineering, Naval University of Engineering, Wuhan 430000, China"],"affiliations":[{"raw_affiliation_string":"Department of Navigation Engineering, Naval University of Engineering, Wuhan 430000, China","institution_ids":["https://openalex.org/I2800710378"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5040264433"],"corresponding_institution_ids":["https://openalex.org/I2800710378"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":24.2659,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.98915071,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"18","issue":"5","first_page":"1414","last_page":"1414"},"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":0.9987999796867371,"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/T11405","display_name":"Geophysics and Gravity Measurements","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.701580286026001},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6676614284515381},{"id":"https://openalex.org/keywords/state-vector","display_name":"State vector","score":0.6623111963272095},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6343575119972229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5444286465644836},{"id":"https://openalex.org/keywords/multiplicative-function","display_name":"Multiplicative function","score":0.4930088222026825},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48650211095809937},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4821319580078125},{"id":"https://openalex.org/keywords/reset","display_name":"Reset (finance)","score":0.4736821949481964},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4627843499183655},{"id":"https://openalex.org/keywords/sequential-estimation","display_name":"Sequential estimation","score":0.42983460426330566},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.4269677996635437},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.419299840927124},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3455071449279785},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2278956174850464},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15686610341072083},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15587037801742554},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13118889927864075},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1279083490371704},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1030622124671936}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.701580286026001},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6676614284515381},{"id":"https://openalex.org/C2777798563","wikidata":"https://www.wikidata.org/wiki/Q7603916","display_name":"State vector","level":2,"score":0.6623111963272095},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6343575119972229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5444286465644836},{"id":"https://openalex.org/C42747912","wikidata":"https://www.wikidata.org/wiki/Q1048447","display_name":"Multiplicative function","level":2,"score":0.4930088222026825},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48650211095809937},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4821319580078125},{"id":"https://openalex.org/C2779795794","wikidata":"https://www.wikidata.org/wiki/Q7315343","display_name":"Reset (finance)","level":2,"score":0.4736821949481964},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4627843499183655},{"id":"https://openalex.org/C86426650","wikidata":"https://www.wikidata.org/wiki/Q7452504","display_name":"Sequential estimation","level":2,"score":0.42983460426330566},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.4269677996635437},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.419299840927124},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3455071449279785},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2278956174850464},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15686610341072083},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15587037801742554},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13118889927864075},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1279083490371704},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1030622124671936},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s18051414","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18051414","pdf_url":"https://www.mdpi.com/1424-8220/18/5/1414/pdf","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:29751538","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29751538","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:22cf80001f6d4e2ca6336325aead4fb3","is_oa":true,"landing_page_url":"https://doaj.org/article/22cf80001f6d4e2ca6336325aead4fb3","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-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 5, p 1414 (2018)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:4940602","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5982416","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:/1424-8220/18/5/1414/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s18051414","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 5; Pages: 1414","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s18051414","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18051414","pdf_url":"https://www.mdpi.com/1424-8220/18/5/1414/pdf","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/G2147133802","display_name":null,"funder_award_id":"61304241","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"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2800148498.pdf","grobid_xml":"https://content.openalex.org/works/W2800148498.grobid-xml"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W636927631","https://openalex.org/W2026891225","https://openalex.org/W2063389494","https://openalex.org/W2065095347","https://openalex.org/W2079702022","https://openalex.org/W2093512004","https://openalex.org/W2094148411","https://openalex.org/W2117730228","https://openalex.org/W2132240870","https://openalex.org/W2154607074","https://openalex.org/W2238083803","https://openalex.org/W2502569300","https://openalex.org/W2554336960","https://openalex.org/W6635369114"],"related_works":["https://openalex.org/W350273603","https://openalex.org/W2393495588","https://openalex.org/W96259911","https://openalex.org/W2168225754","https://openalex.org/W4385608460","https://openalex.org/W2328655003","https://openalex.org/W2377099507","https://openalex.org/W3188389125","https://openalex.org/W3099642387","https://openalex.org/W2800148498"],"abstract_inverted_index":{"In":[0,18],"this":[1],"paper,":[2],"a":[3,139],"sequential":[4,68,109,121,153],"multiplicative":[5],"extended":[6],"Kalman":[7],"filter":[8],"(SMEKF)":[9],"is":[10,27,49,73,84,102],"proposed":[11,20,130],"for":[12,43,88,97],"attitude":[13,64,99],"estimation":[14],"using":[15],"vector":[16,25,46,78],"observations.":[17],"the":[19,24,32,37,44,50,57,63,67,71,77,89,93,98,103,107,113,120,129,148],"SMEKF,":[21],"each":[22,117],"of":[23,56,92,119,142],"observations":[26,79],"processed":[28],"sequentially":[29],"to":[30,53,86,106,147],"update":[31,62],"attitude,":[33],"which":[34,59,83,111],"can":[35],"make":[36],"measurement":[38],"model":[39],"linearization":[40],"more":[41,133],"accurate":[42,136],"next":[45],"observation.":[47],"This":[48,101],"main":[51,104],"difference":[52,105],"Murrell&rsquo;s":[54],"variation":[55],"MEKF,":[58],"does":[60],"not":[61],"estimate":[65,144],"during":[66],"procedure.":[69,122],"Meanwhile,":[70],"covariance":[72,115],"updated":[74],"after":[75],"all":[76],"have":[80],"been":[81],"processed,":[82],"used":[85],"account":[87],"special":[90],"characteristics":[91],"reset":[94],"operation":[95],"necessary":[96],"update.":[100],"traditional":[108,152],"EKF,":[110],"updates":[112],"state":[114],"at":[116],"step":[118],"The":[123],"numerical":[124],"simulation":[125],"study":[126],"demonstrates":[127],"that":[128],"SMEKF":[131],"has":[132],"consistent":[134],"and":[135,150],"performance":[137],"in":[138],"wide":[140],"range":[141],"initial":[143],"errors":[145],"compared":[146],"MEKF":[149],"its":[151],"forms.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
