{"id":"https://openalex.org/W2980962496","doi":"https://doi.org/10.3390/s19204568","title":"Improved Multistage In-Motion Attitude Determination Alignment Method for Strapdown Inertial Navigation System","display_name":"Improved Multistage In-Motion Attitude Determination Alignment Method for Strapdown Inertial Navigation System","publication_year":2019,"publication_date":"2019-10-21","ids":{"openalex":"https://openalex.org/W2980962496","doi":"https://doi.org/10.3390/s19204568","mag":"2980962496","pmid":"https://pubmed.ncbi.nlm.nih.gov/31640136"},"language":"en","primary_location":{"id":"doi:10.3390/s19204568","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19204568","pdf_url":"https://www.mdpi.com/1424-8220/19/20/4568/pdf?version=1571731131","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/1424-8220/19/20/4568/pdf?version=1571731131","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101864168","display_name":"Haiyan Qiao","orcid":"https://orcid.org/0009-0004-7285-2226"},"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":"Haiyan Qiao","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin 150001, China","Hebei Hanguang Industry Co., Ltd., Handan 056000, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"Hebei Hanguang Industry Co., Ltd., Handan 056000, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053696824","display_name":"Meng Liu","orcid":"https://orcid.org/0000-0001-7341-5061"},"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":"Meng Liu","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin 150001, China","Tianjin Navigation Instrument Research Institute, Tianjin 300131, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"Tianjin Navigation Instrument Research Institute, Tianjin 300131, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074442283","display_name":"Hao Meng","orcid":"https://orcid.org/0000-0003-3586-9286"},"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":"Hao Meng","raw_affiliation_strings":["College of Automation, Harbin Engineering University, Harbin 150001, China"],"affiliations":[{"raw_affiliation_string":"College of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030107612","display_name":"Mengjun Wang","orcid":"https://orcid.org/0000-0001-8416-048X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mengjun Wang","raw_affiliation_strings":["Hebei Hanguang Industry Co., Ltd., Handan 056000, China"],"affiliations":[{"raw_affiliation_string":"Hebei Hanguang Industry Co., Ltd., Handan 056000, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100773949","display_name":"Wei Ke","orcid":"https://orcid.org/0009-0004-1747-2458"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei Ke","raw_affiliation_strings":["Hebei Hanguang Industry Co., Ltd., Handan 056000, China"],"affiliations":[{"raw_affiliation_string":"Hebei Hanguang Industry Co., Ltd., Handan 056000, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5053696824"],"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":3.5453,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.954435,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"19","issue":"20","first_page":"4568","last_page":"4568"},"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/T14163","display_name":"Astronomical Observations and Instrumentation","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11405","display_name":"Geophysics and Gravity Measurements","score":0.9804999828338623,"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/heading","display_name":"Heading (navigation)","score":0.8739190101623535},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.7353898882865906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6106001734733582},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5501742959022522},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.5117313861846924},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5044811964035034},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4861995577812195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4346494674682617},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42014461755752563},{"id":"https://openalex.org/keywords/degradation","display_name":"Degradation (telecommunications)","score":0.41680893301963806},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41552290320396423},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3857874572277069},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21689823269844055},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19251546263694763},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1349792182445526},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10824793577194214},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.06403127312660217}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.8739190101623535},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.7353898882865906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6106001734733582},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5501742959022522},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.5117313861846924},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5044811964035034},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4861995577812195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4346494674682617},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42014461755752563},{"id":"https://openalex.org/C2779679103","wikidata":"https://www.wikidata.org/wiki/Q5251805","display_name":"Degradation (telecommunications)","level":2,"score":0.41680893301963806},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41552290320396423},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3857874572277069},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21689823269844055},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19251546263694763},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1349792182445526},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10824793577194214},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.06403127312660217},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s19204568","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19204568","pdf_url":"https://www.mdpi.com/1424-8220/19/20/4568/pdf?version=1571731131","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:31640136","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31640136","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:d76d3d3ee5a8492fb025334c992fca83","is_oa":true,"landing_page_url":"https://doaj.org/article/d76d3d3ee5a8492fb025334c992fca83","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 19, Iss 20, p 4568 (2019)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:5830458","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6832504","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:/1424-8220/19/20/4568/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19204568","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/s19204568","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19204568","pdf_url":"https://www.mdpi.com/1424-8220/19/20/4568/pdf?version=1571731131","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":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2980962496.pdf","grobid_xml":"https://content.openalex.org/works/W2980962496.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1110657010","https://openalex.org/W1790129300","https://openalex.org/W2013714932","https://openalex.org/W2014860214","https://openalex.org/W2042414327","https://openalex.org/W2050100173","https://openalex.org/W2069693317","https://openalex.org/W2084800300","https://openalex.org/W2114499490","https://openalex.org/W2127683304","https://openalex.org/W2139511704","https://openalex.org/W2141187831","https://openalex.org/W2150102020","https://openalex.org/W2152520018","https://openalex.org/W2165199328","https://openalex.org/W2170473403","https://openalex.org/W2208736142","https://openalex.org/W2317388658","https://openalex.org/W2395202693","https://openalex.org/W2531768534","https://openalex.org/W2557981704","https://openalex.org/W2598388795","https://openalex.org/W2611142126","https://openalex.org/W2744152953","https://openalex.org/W2747931274","https://openalex.org/W2766182662","https://openalex.org/W2771853324","https://openalex.org/W2792286032","https://openalex.org/W2794830497","https://openalex.org/W2808286459","https://openalex.org/W2883299834","https://openalex.org/W2901113377","https://openalex.org/W2912983314","https://openalex.org/W3101777406","https://openalex.org/W6661318487","https://openalex.org/W6680934740"],"related_works":["https://openalex.org/W2367746641","https://openalex.org/W2068657109","https://openalex.org/W2360243542","https://openalex.org/W2392409451","https://openalex.org/W4250716077","https://openalex.org/W4247347568","https://openalex.org/W2024124515","https://openalex.org/W4300961947","https://openalex.org/W2415234998","https://openalex.org/W23037264"],"abstract_inverted_index":{"This":[0],"paper":[1],"derives":[2],"an":[3],"improved":[4,157],"multistage":[5,78],"in-motion":[6],"attitude":[7],"determination":[8],"alignment":[9,33,76,89,139,152,174],"(IMADA)":[10],"for":[11,77],"strapdown":[12],"inertial":[13],"navigation":[14],"system,":[15],"which":[16],"integrates":[17],"the":[18,22,30,37,42,52,57,71,85,88,92,99,106,112,120,123,130,133,137,146,151,162,172,184],"traditional":[19,46,61,147],"IMADA":[20,65,79],"and":[21,41,105,180],"designed":[23,58],"dual":[24],"velocity-modeling":[25],"IMADA,":[26],"as":[27,29,144],"well":[28],"multiple":[31],"repeated":[32],"process,":[34],"to":[35,118,142],"address":[36],"principled":[38],"model":[39],"errors":[40,44],"calculation":[43],"of":[45,60,74,87,102,122,132,136,154,165],"V":[47,62],"b":[48,63],"-aided":[49],"IMADA.":[50],"With":[51],"proposed":[53,124],"algorithm,":[54],"not":[55],"only":[56],"drawbacks":[59],"-based":[64],"can":[66],"be":[67,81],"solved,":[68],"but":[69],"also":[70,96],"degradation":[72,86,135],"phenomenon":[73],"high-level":[75],"would":[80],"largely":[82],"less.":[83],"Moreover,":[84,150],"accuracy":[90,153],"with":[91,111,161],"vehicle":[93],"velocity":[94],"is":[95,140,156],"removed.":[97],"Finally,":[98],"30":[100],"groups":[101],"car-mounted":[103],"experiments":[104,110],"Monte":[107],"Carlo":[108],"simulation":[109],"navigation-grade":[113],"SINS":[114],"are":[115,176,181],"carried":[116],"out":[117],"demonstrate":[119],"validity":[121],"algorithm.":[125],"The":[126],"results":[127],"show":[128],"that":[129],"number":[131,148],"heading":[134,155,173],"second-level":[138],"reduced":[141],"10":[143],"compared":[145],"20.":[149],"by":[158],"23%.":[159],"Even":[160],"different":[163],"speeds":[164],"20":[166],"m/s,":[167,169,171],"60":[168],"80":[170],"accuracies":[175],"1.3063\u00b0,":[177],"1.3102\u00b0,":[178],"1.3564\u00b0":[179],"still":[182],"almost":[183],"same.":[185]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
