{"id":"https://openalex.org/W2995417970","doi":"https://doi.org/10.3390/s19245509","title":"An Improved SINS Alignment Method Based on Adaptive Cubature Kalman Filter","display_name":"An Improved SINS Alignment Method Based on Adaptive Cubature Kalman Filter","publication_year":2019,"publication_date":"2019-12-13","ids":{"openalex":"https://openalex.org/W2995417970","doi":"https://doi.org/10.3390/s19245509","mag":"2995417970","pmid":"https://pubmed.ncbi.nlm.nih.gov/31847145"},"language":"en","primary_location":{"id":"doi:10.3390/s19245509","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19245509","pdf_url":"https://www.mdpi.com/1424-8220/19/24/5509/pdf?version=1576232376","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/1424-8220/19/24/5509/pdf?version=1576232376","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100383751","display_name":"Yonggang Zhang","orcid":"https://orcid.org/0000-0003-4548-1111"},"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":"Yonggang Zhang","raw_affiliation_strings":["Department of Automation, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102982453","display_name":"Geng Xu","orcid":"https://orcid.org/0000-0003-3548-3631"},"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":"Geng Xu","raw_affiliation_strings":["Department of Automation, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":"https://orcid.org/0000-0003-3548-3631","affiliations":[{"raw_affiliation_string":"Department of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100352124","display_name":"Xin Liu","orcid":"https://orcid.org/0000-0001-6038-6118"},"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":"Xin Liu","raw_affiliation_strings":["Department of Automation, Harbin Engineering University, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Harbin Engineering University, Harbin 150001, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5102982453"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":13.6891,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.98230237,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"19","issue":"24","first_page":"5509","last_page":"5509"},"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":0.9994000196456909,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/kalman-filter","display_name":"Kalman filter","score":0.733596682548523},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"Covariance intersection","score":0.683739185333252},{"id":"https://openalex.org/keywords/covariance-matrix","display_name":"Covariance matrix","score":0.6818540096282959},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6502102613449097},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.6269958019256592},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6203619837760925},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5562143325805664},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5224946141242981},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.48892393708229065},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.45699331164360046},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4548800587654114},{"id":"https://openalex.org/keywords/ensemble-kalman-filter","display_name":"Ensemble Kalman filter","score":0.4530359208583832},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.44989249110221863},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40730348229408264},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34157586097717285},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.30462297797203064},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.287921279668808},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24986708164215088},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.09218284487724304},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08345222473144531}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.733596682548523},{"id":"https://openalex.org/C83042196","wikidata":"https://www.wikidata.org/wiki/Q5178898","display_name":"Covariance intersection","level":4,"score":0.683739185333252},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.6818540096282959},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6502102613449097},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.6269958019256592},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6203619837760925},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5562143325805664},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5224946141242981},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.48892393708229065},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.45699331164360046},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4548800587654114},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.4530359208583832},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.44989249110221863},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40730348229408264},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34157586097717285},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.30462297797203064},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.287921279668808},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24986708164215088},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.09218284487724304},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08345222473144531},{"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/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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s19245509","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19245509","pdf_url":"https://www.mdpi.com/1424-8220/19/24/5509/pdf?version=1576232376","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:31847145","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31847145","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:mdpi.com:/1424-8220/19/24/5509/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19245509","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"},{"id":"pmh:oai:pubmedcentral.nih.gov:6960916","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6960916","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/s19245509","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19245509","pdf_url":"https://www.mdpi.com/1424-8220/19/24/5509/pdf?version=1576232376","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/G3980354054","display_name":null,"funder_award_id":"61773133","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":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2995417970.pdf","grobid_xml":"https://content.openalex.org/works/W2995417970.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1903129760","https://openalex.org/W1984618143","https://openalex.org/W2030840930","https://openalex.org/W2039008220","https://openalex.org/W2054091988","https://openalex.org/W2069693317","https://openalex.org/W2083976882","https://openalex.org/W2084800300","https://openalex.org/W2085829517","https://openalex.org/W2123487311","https://openalex.org/W2124101749","https://openalex.org/W2139511704","https://openalex.org/W2142595063","https://openalex.org/W2156030405","https://openalex.org/W2165199328","https://openalex.org/W2208736142","https://openalex.org/W2217480543","https://openalex.org/W2361482685","https://openalex.org/W2371898751","https://openalex.org/W2377773321","https://openalex.org/W2486638653","https://openalex.org/W2572960859","https://openalex.org/W2682892716","https://openalex.org/W2737188128","https://openalex.org/W2767202509","https://openalex.org/W2941114614","https://openalex.org/W6657948187","https://openalex.org/W6671210339"],"related_works":["https://openalex.org/W2150837402","https://openalex.org/W2742858738","https://openalex.org/W3190919334","https://openalex.org/W4206024512","https://openalex.org/W2380516352","https://openalex.org/W2491009754","https://openalex.org/W4386026724","https://openalex.org/W2263628162","https://openalex.org/W4385439673","https://openalex.org/W2890211018"],"abstract_inverted_index":{"Initial":[0],"alignment":[1,30,82,100,142,163],"is":[2,110],"critical":[3],"and":[4,23,45,73,88,135,148],"indispensable":[5],"for":[6],"the":[7,14,19,24,34,49,59,68,71,78,118,121,126,154,159],"inertial":[8],"navigation":[9,21],"system":[10,127],"(INS),":[11],"which":[12],"determines":[13],"initial":[15,29,81,91,99,141,162],"attitude":[16],"matrix":[17,42,139],"between":[18],"reference":[20],"frame":[22],"body":[25],"frame.":[26],"The":[27],"conventional":[28],"methods":[31],"based":[32,102],"on":[33,103],"Kalman-like":[35],"filter":[36,108],"require":[37],"an":[38,97,104],"accurate":[39],"noise":[40,61,85,137],"covariance":[41,62,86,133,138],"of":[43,70,80,117,120,140,161],"state":[44],"measurement":[46,136],"to":[47],"guarantee":[48],"high":[50],"estimation":[51],"accuracy.":[52],"However,":[53],"in":[54,94,112],"a":[55,89],"real-life":[56],"practical":[57,95],"environment,":[58,96],"uncertain":[60,84],"matrices":[63,87],"are":[64,143],"often":[65],"induced":[66],"by":[67],"motion":[69],"carrier":[72],"external":[74],"disturbance.":[75],"To":[76],"solve":[77],"problem":[79],"with":[83,165],"large":[90],"misalignment":[92],"angle":[93],"improved":[98],"method":[101,156],"adaptive":[105],"cubature":[106],"Kalman":[107],"(ACKF)":[109],"proposed":[111,155],"this":[113],"paper.":[114],"By":[115],"virtue":[116],"idea":[119],"variational":[122],"Bayesian":[123],"(VB)":[124],"method,":[125],"state,":[128],"one":[129],"step":[130],"predicted":[131],"error":[132],"matrix,":[134],"adaptively":[144],"estimated":[145],"together.":[146],"Simulation":[147],"vehicle":[149],"experiment":[150],"results":[151],"demonstrate":[152],"that":[153],"can":[157],"improve":[158],"accuracy":[160],"compared":[164],"existing":[166],"methods.":[167]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}