{"id":"https://openalex.org/W4235392996","doi":"https://doi.org/10.3390/s18124339","title":"Adaptive Kalman Filter-Based Single-Beacon Underwater Tracking with Unknown Effective Sound Velocity","display_name":"Adaptive Kalman Filter-Based Single-Beacon Underwater Tracking with Unknown Effective Sound Velocity","publication_year":2018,"publication_date":"2018-12-08","ids":{"openalex":"https://openalex.org/W4235392996","doi":"https://doi.org/10.3390/s18124339"},"language":"en","primary_location":{"id":"doi:10.3390/s18124339","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18124339","pdf_url":"https://www.mdpi.com/1424-8220/18/12/4339/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"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/18/12/4339/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103039889","display_name":"Zhongchao Deng","orcid":"https://orcid.org/0000-0002-2663-3020"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong-Chao Deng","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051906691","display_name":"Xiang Yu","orcid":"https://orcid.org/0000-0001-8918-3955"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Yu","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076687329","display_name":"Hongde Qin","orcid":"https://orcid.org/0000-0002-9794-4491"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hong-De Qin","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032489849","display_name":"Zhongben Zhu","orcid":"https://orcid.org/0000-0001-6152-5706"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong-Ben Zhu","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076687329"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.9982,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.85824899,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"18","issue":"12","first_page":"4339","last_page":"4339"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11698","display_name":"Underwater Acoustics Research","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.7678291201591492},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6480368375778198},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6154763698577881},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5858501195907593},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5663752555847168},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.4928891658782959},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4788075089454651},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.47407594323158264},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44684168696403503},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.43805426359176636},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.42366665601730347},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.41145819425582886},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33523863554000854},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.24808365106582642},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24514025449752808},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08619430661201477}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7678291201591492},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6480368375778198},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6154763698577881},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5858501195907593},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5663752555847168},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.4928891658782959},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4788075089454651},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.47407594323158264},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44684168696403503},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.43805426359176636},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.42366665601730347},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.41145819425582886},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33523863554000854},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.24808365106582642},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24514025449752808},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08619430661201477},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s18124339","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18124339","pdf_url":"https://www.mdpi.com/1424-8220/18/12/4339/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":"pmh:oai:doaj.org/article:9bf1e6d3fe0340a4b6f251ee9e83abf3","is_oa":true,"landing_page_url":"https://doaj.org/article/9bf1e6d3fe0340a4b6f251ee9e83abf3","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 12, p 4339 (2018)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:5292206","is_oa":true,"landing_page_url":"http://europepmc.org/pmc/articles/PMC6308807","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/18/12/4339/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s18124339","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","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s18124339","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18124339","pdf_url":"https://www.mdpi.com/1424-8220/18/12/4339/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":[{"id":"https://metadata.un.org/sdg/14","score":0.7900000214576721,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G7543514336","display_name":null,"funder_award_id":"U1713205","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G903247092","display_name":null,"funder_award_id":"51809062","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/W4235392996.pdf","grobid_xml":"https://content.openalex.org/works/W4235392996.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W652828899","https://openalex.org/W1665214339","https://openalex.org/W1964949590","https://openalex.org/W1969142081","https://openalex.org/W2002893797","https://openalex.org/W2031338778","https://openalex.org/W2048312361","https://openalex.org/W2099088270","https://openalex.org/W2108352999","https://openalex.org/W2108905276","https://openalex.org/W2116599690","https://openalex.org/W2211347087","https://openalex.org/W2279051687","https://openalex.org/W2418603150","https://openalex.org/W2563641627","https://openalex.org/W2564255337","https://openalex.org/W2626610200","https://openalex.org/W2750657056","https://openalex.org/W2756959509","https://openalex.org/W2764272656","https://openalex.org/W2765550637","https://openalex.org/W2767015107","https://openalex.org/W2774514226","https://openalex.org/W2790374560","https://openalex.org/W2794046143","https://openalex.org/W2901059451"],"related_works":["https://openalex.org/W1035502194","https://openalex.org/W4206024512","https://openalex.org/W2164404293","https://openalex.org/W2053335193","https://openalex.org/W4300476109","https://openalex.org/W2772311278","https://openalex.org/W4205759170","https://openalex.org/W2354299011","https://openalex.org/W4385993860","https://openalex.org/W4302337189"],"abstract_inverted_index":{"In":[0],"the":[1,37,53,83,91,97,101,126,132,152,156,168,177,180,188],"single-beacon":[2,62,137,147],"underwater":[3,94],"tracking":[4,63,138,148,181],"system,":[5],"vehicles":[6],"rely":[7],"on":[8,28],"slant":[9],"range":[10],"measurements":[11],"from":[12,47],"an":[13,71,143],"acoustic":[14,95,105],"beacon":[15],"to":[16,41,81,90],"bound":[17],"errors":[18],"accumulated":[19],"by":[20],"dead":[21],"reckoning.":[22],"Ranges":[23],"are":[24,108],"usually":[25],"obtained":[26],"based":[27],"a":[29,57,60],"presumed":[30],"known":[31],"effective":[32],"sound":[33],"velocity":[34],"(ESV).":[35],"Since":[36],"ESV":[38,55,86,102],"is":[39],"difficult":[40],"determine":[42],"accurately,":[43],"traditional":[44],"methods":[45],"suffer":[46],"large":[48],"positioning":[49],"error.":[50],"By":[51],"treating":[52],"unknown":[54,109],"as":[56,155],"state":[58],"variable,":[59],"novel":[61],"model":[64,154],"(the":[65],"so":[66],"called":[67],"\u201c5-sv\u201d":[68,153],"model)":[69],"and":[70,104,110,115,164,170,187],"extended":[72],"Kalman":[73,145],"filter":[74,169],"(EKF)-based":[75],"solution":[76],"method":[77],"have":[78],"been":[79],"discussed":[80],"solve":[82],"problem":[84],"of":[85,93,100,135],"estimation.":[87],"However,":[88],"due":[89],"uncertainty":[92,103],"propagation,":[96],"probabilistic":[98],"characteristics":[99],"measurement":[106],"noise":[107,122,128,190],"varying":[111],"both":[112,167],"with":[113,120,194],"time":[114],"location.":[116],"EKF,":[117],"which":[118,150],"runs":[119],"presupposed":[121],"parameters,":[123],"cannot":[124],"describe":[125],"practical":[127],"specifications.":[129],"To":[130],"overcome":[131],"divergence":[133],"issue":[134],"EKF-based":[136],"methods,":[139],"this":[140],"paper":[141],"proposes":[142],"adaptive":[144],"filter-based":[146],"algorithm":[149],"employs":[151],"baseline":[157],"model.":[158],"Through":[159],"numerical":[160],"examples":[161],"using":[162],"simulated":[163],"field":[165],"data,":[166],"smoother":[171],"results":[172],"show":[173],"that":[174],"while":[175],"implementing":[176],"proposed":[178],"algorithm,":[179],"accuracy":[182],"can":[183],"be":[184],"significantly":[185],"improved,":[186],"estimated":[189],"parameter":[191],"agrees":[192],"well":[193],"its":[195],"true":[196],"value.":[197]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}