{"id":"https://openalex.org/W3004149572","doi":"https://doi.org/10.3390/s20030803","title":"A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots","display_name":"A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots","publication_year":2020,"publication_date":"2020-02-01","ids":{"openalex":"https://openalex.org/W3004149572","doi":"https://doi.org/10.3390/s20030803","mag":"3004149572","pmid":"https://pubmed.ncbi.nlm.nih.gov/32024177"},"language":"en","primary_location":{"id":"doi:10.3390/s20030803","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20030803","pdf_url":"https://www.mdpi.com/1424-8220/20/3/803/pdf?version=1580718208","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/1424-8220/20/3/803/pdf?version=1580718208","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016521764","display_name":"\u00c1kos Odry","orcid":"https://orcid.org/0000-0002-9554-9586"},"institutions":[{"id":"https://openalex.org/I96221595","display_name":"University of Duna\u00fajv\u00e1ros","ror":"https://ror.org/05x0g9h76","country_code":"HU","type":"education","lineage":["https://openalex.org/I96221595"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"\u00c1kos Odry","raw_affiliation_strings":["Department of Control Engineering and Information Technology, University of Duna\u00fajv\u00e1ros, T\u00e1ncsics Mih\u00e1ly u. 1, 2400 Duna\u00fajv\u00e1ros, Hungary"],"raw_orcid":"https://orcid.org/0000-0002-9554-9586","affiliations":[{"raw_affiliation_string":"Department of Control Engineering and Information Technology, University of Duna\u00fajv\u00e1ros, T\u00e1ncsics Mih\u00e1ly u. 1, 2400 Duna\u00fajv\u00e1ros, Hungary","institution_ids":["https://openalex.org/I96221595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078878302","display_name":"Istv\u00e1n Kecsk\u00e9s","orcid":"https://orcid.org/0000-0002-9688-8125"},"institutions":[{"id":"https://openalex.org/I96221595","display_name":"University of Duna\u00fajv\u00e1ros","ror":"https://ror.org/05x0g9h76","country_code":"HU","type":"education","lineage":["https://openalex.org/I96221595"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Istvan Kecskes","raw_affiliation_strings":["Department of Control Engineering and Information Technology, University of Duna\u00fajv\u00e1ros, T\u00e1ncsics Mih\u00e1ly u. 1, 2400 Duna\u00fajv\u00e1ros, Hungary"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Engineering and Information Technology, University of Duna\u00fajv\u00e1ros, T\u00e1ncsics Mih\u00e1ly u. 1, 2400 Duna\u00fajv\u00e1ros, Hungary","institution_ids":["https://openalex.org/I96221595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057735997","display_name":"Peter \u0160ar\u010devi\u0107","orcid":"https://orcid.org/0000-0003-4050-8231"},"institutions":[{"id":"https://openalex.org/I227486990","display_name":"University of Szeged","ror":"https://ror.org/01pnej532","country_code":"HU","type":"education","lineage":["https://openalex.org/I227486990"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Peter Sarcevic","raw_affiliation_strings":["Technical Department, Faculty of Engineering, University of Szeged, Moszkvai krt. 9, 6725 Szeged, Hungary"],"raw_orcid":"https://orcid.org/0000-0003-4050-8231","affiliations":[{"raw_affiliation_string":"Technical Department, Faculty of Engineering, University of Szeged, Moszkvai krt. 9, 6725 Szeged, Hungary","institution_ids":["https://openalex.org/I227486990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027072909","display_name":"Zolt\u00e1n Vizv\u00e1ri","orcid":"https://orcid.org/0000-0003-0313-9959"},"institutions":[{"id":"https://openalex.org/I79741316","display_name":"University of Pecs","ror":"https://ror.org/037b5pv06","country_code":"HU","type":"education","lineage":["https://openalex.org/I79741316"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Zoltan Vizvari","raw_affiliation_strings":["Department of Environmental Engineering, Faculty of Engineering and Information Technology, University of P\u00e9cs, Boszork\u00e1ny \u00fat 2, 7624 P\u00e9cs, Hungary"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Environmental Engineering, Faculty of Engineering and Information Technology, University of P\u00e9cs, Boszork\u00e1ny \u00fat 2, 7624 P\u00e9cs, Hungary","institution_ids":["https://openalex.org/I79741316"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103081988","display_name":"Attila T\u00f3th","orcid":"https://orcid.org/0000-0001-9433-7517"},"institutions":[{"id":"https://openalex.org/I79741316","display_name":"University of Pecs","ror":"https://ror.org/037b5pv06","country_code":"HU","type":"education","lineage":["https://openalex.org/I79741316"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Attila Toth","raw_affiliation_strings":["Institute of Physiology, Medical School, University of P\u00e9cs, Szigeti \u00fat 12, 7624 P\u00e9cs, Hungary"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Physiology, Medical School, University of P\u00e9cs, Szigeti \u00fat 12, 7624 P\u00e9cs, Hungary","institution_ids":["https://openalex.org/I79741316"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084967061","display_name":"P\u00e9ter Odry","orcid":"https://orcid.org/0000-0003-2395-5259"},"institutions":[{"id":"https://openalex.org/I96221595","display_name":"University of Duna\u00fajv\u00e1ros","ror":"https://ror.org/05x0g9h76","country_code":"HU","type":"education","lineage":["https://openalex.org/I96221595"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"P\u00e9ter Odry","raw_affiliation_strings":["Department of Control Engineering and Information Technology, University of Duna\u00fajv\u00e1ros, T\u00e1ncsics Mih\u00e1ly u. 1, 2400 Duna\u00fajv\u00e1ros, Hungary"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control Engineering and Information Technology, University of Duna\u00fajv\u00e1ros, T\u00e1ncsics Mih\u00e1ly u. 1, 2400 Duna\u00fajv\u00e1ros, Hungary","institution_ids":["https://openalex.org/I96221595"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5016521764"],"corresponding_institution_ids":["https://openalex.org/I96221595"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":88.1122,"has_fulltext":true,"cited_by_count":79,"citation_normalized_percentile":{"value":0.99876239,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"20","issue":"3","first_page":"803","last_page":"803"},"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":0.9957000017166138,"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":0.9934999942779541,"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/control-theory","display_name":"Control theory (sociology)","score":0.7478897571563721},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6685829758644104},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5298659205436707},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5093289613723755},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.498720645904541},{"id":"https://openalex.org/keywords/kernel-adaptive-filter","display_name":"Kernel adaptive filter","score":0.48065102100372314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47736406326293945},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.44342437386512756},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.4111064672470093},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37288960814476013},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3463515043258667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28039270639419556},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2708752155303955},{"id":"https://openalex.org/keywords/filter-design","display_name":"Filter design","score":0.2609767019748688},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16549590229988098}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7478897571563721},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6685829758644104},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5298659205436707},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5093289613723755},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.498720645904541},{"id":"https://openalex.org/C13107197","wikidata":"https://www.wikidata.org/wiki/Q6394192","display_name":"Kernel adaptive filter","level":4,"score":0.48065102100372314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47736406326293945},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.44342437386512756},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.4111064672470093},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37288960814476013},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3463515043258667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28039270639419556},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2708752155303955},{"id":"https://openalex.org/C22597639","wikidata":"https://www.wikidata.org/wiki/Q5449227","display_name":"Filter design","level":3,"score":0.2609767019748688},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16549590229988098},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s20030803","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20030803","pdf_url":"https://www.mdpi.com/1424-8220/20/3/803/pdf?version=1580718208","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:32024177","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32024177","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:publicatio.bibl.u-szeged.hu:20625","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400436","display_name":"SZTE Publicatio Repozit\u00f3rium (University of Szeged)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I227486990","host_organization_name":"University of Szeged","host_organization_lineage":["https://openalex.org/I227486990"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Cikk"},{"id":"pmh:oai:doaj.org/article:2afef435f2054e329f18df97332740ce","is_oa":true,"landing_page_url":"https://doaj.org/article/2afef435f2054e329f18df97332740ce","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 20, Iss 3, p 803 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/3/803/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s20030803","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:7038753","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7038753","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/s20030803","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20030803","pdf_url":"https://www.mdpi.com/1424-8220/20/3/803/pdf?version=1580718208","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":[{"display_name":"Peace, Justice and strong institutions","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3004149572.pdf","grobid_xml":"https://content.openalex.org/works/W3004149572.grobid-xml"},"referenced_works_count":79,"referenced_works":["https://openalex.org/W113836369","https://openalex.org/W636927631","https://openalex.org/W905898381","https://openalex.org/W1501966803","https://openalex.org/W1506206605","https://openalex.org/W1527786550","https://openalex.org/W1966430548","https://openalex.org/W1967924725","https://openalex.org/W1985604452","https://openalex.org/W1985853728","https://openalex.org/W2006863675","https://openalex.org/W2014188173","https://openalex.org/W2031039451","https://openalex.org/W2046978531","https://openalex.org/W2055253444","https://openalex.org/W2058303085","https://openalex.org/W2063005413","https://openalex.org/W2067007369","https://openalex.org/W2067416016","https://openalex.org/W2085820919","https://openalex.org/W2092943298","https://openalex.org/W2093662833","https://openalex.org/W2096674847","https://openalex.org/W2109622017","https://openalex.org/W2120665422","https://openalex.org/W2122750542","https://openalex.org/W2125691646","https://openalex.org/W2136273036","https://openalex.org/W2139362983","https://openalex.org/W2145618076","https://openalex.org/W2160146756","https://openalex.org/W2161872204","https://openalex.org/W2161962330","https://openalex.org/W2167340365","https://openalex.org/W2192898626","https://openalex.org/W2215856085","https://openalex.org/W2401576198","https://openalex.org/W2466559273","https://openalex.org/W2577022228","https://openalex.org/W2615309803","https://openalex.org/W2729784903","https://openalex.org/W2730083658","https://openalex.org/W2754677331","https://openalex.org/W2765473510","https://openalex.org/W2767087800","https://openalex.org/W2772930848","https://openalex.org/W2778748931","https://openalex.org/W2793892555","https://openalex.org/W2794685791","https://openalex.org/W2798533116","https://openalex.org/W2808026192","https://openalex.org/W2883527340","https://openalex.org/W2888282503","https://openalex.org/W2890804875","https://openalex.org/W2894937563","https://openalex.org/W2896235423","https://openalex.org/W2898693136","https://openalex.org/W2900435072","https://openalex.org/W2901336306","https://openalex.org/W2909507558","https://openalex.org/W2909513358","https://openalex.org/W2909655021","https://openalex.org/W2917442576","https://openalex.org/W2922367255","https://openalex.org/W2938861354","https://openalex.org/W2941728977","https://openalex.org/W2944116957","https://openalex.org/W2945402695","https://openalex.org/W2947367848","https://openalex.org/W2955299013","https://openalex.org/W2955639367","https://openalex.org/W2956998994","https://openalex.org/W2964059063","https://openalex.org/W2968260248","https://openalex.org/W2972392072","https://openalex.org/W2972922115","https://openalex.org/W2988806334","https://openalex.org/W4292408540","https://openalex.org/W6747301701"],"related_works":["https://openalex.org/W3127350447","https://openalex.org/W3108700312","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2513940684","https://openalex.org/W2127974901","https://openalex.org/W2610463698","https://openalex.org/W1489991992","https://openalex.org/W2155027504","https://openalex.org/W2369001708"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,34,68],"novel":[4,43],"fuzzy-adaptive":[5],"extended":[6],"Kalman":[7],"filter":[8,30,108,136,169,205],"(FAEKF)":[9],"for":[10,107,197],"the":[11,50,83,88,120,128,145,149,157,163,168,173,204],"real-time":[12],"attitude":[13,95,122,164,193],"estimation":[14,165,194],"of":[15,52,87,99,119,135,175],"agile":[16],"mobile":[17,189],"platforms":[18],"equipped":[19],"with":[20,127,140],"magnetic,":[21],"angular":[22],"rate,":[23],"and":[24,37,57,93,116,178,199],"gravity":[25],"(MARG)":[26],"sensor":[27,131],"arrays.":[28],"The":[29,133,182],"structure":[31,170],"employs":[32],"both":[33,176],"quaternion-based":[35],"EKF":[36],"an":[38],"adaptive":[39,159],"extension,":[40],"in":[41,191],"which":[42,73,111,192],"measurement":[44,118],"methods":[45],"are":[46,65],"used":[47],"to":[48,80,187],"calculate":[49],"magnitudes":[51],"system":[53,190],"vibrations,":[54],"external":[55,63,180,200],"accelerations,":[56],"magnetic":[58],"distortions.":[59],"These":[60],"magnitudes,":[61],"as":[62],"disturbances,":[64],"incorporated":[66],"into":[67],"sophisticated":[69],"fuzzy":[70,75],"inference":[71],"machine,":[72],"executes":[74,112],"IF-THEN":[76],"rules-based":[77],"adaption":[78],"laws":[79],"consistently":[81],"modify":[82],"noise":[84],"covariance":[85],"matrices":[86],"filter,":[89],"thereby":[90],"providing":[91],"accurate":[92],"robust":[94],"results.":[96],"A":[97,152],"six-degrees":[98],"freedom":[100],"(6":[101],"DOF)":[102],"test":[103,150],"bench":[104],"is":[105,138,195],"designed":[106],"performance":[109],"evaluation,":[110],"various":[113],"dynamic":[114],"behaviors":[115],"enables":[117],"true":[121],"angles":[123],"(ground":[124],"truth)":[125],"along":[126],"raw":[129],"MARG":[130],"data.":[132],"tuning":[134],"parameters":[137],"performed":[139],"numerical":[141],"optimization":[142],"based":[143],"on":[144],"collected":[146],"measurements":[147],"from":[148],"environment.":[151],"comprehensive":[153],"analysis":[154],"highlights":[155],"that":[156],"proposed":[158],"strategy":[160],"significantly":[161],"improves":[162],"quality.":[166],"Moreover,":[167],"successfully":[171],"rejects":[172],"effects":[174],"slow":[177],"fast":[179],"perturbations.":[181],"FAEKF":[183],"can":[184],"be":[185],"applied":[186],"any":[188],"necessary":[196],"localization":[198],"disturbances":[201],"greatly":[202],"influence":[203],"accuracy.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":8}],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2020-02-07T00:00:00"}
