{"id":"https://openalex.org/W3005397757","doi":"https://doi.org/10.3390/s20030893","title":"Model-Aided Localization and Navigation for Underwater Gliders Using Single-Beacon Travel-Time Differences","display_name":"Model-Aided Localization and Navigation for Underwater Gliders Using Single-Beacon Travel-Time Differences","publication_year":2020,"publication_date":"2020-02-07","ids":{"openalex":"https://openalex.org/W3005397757","doi":"https://doi.org/10.3390/s20030893","mag":"3005397757","pmid":"https://pubmed.ncbi.nlm.nih.gov/32046168"},"language":"en","primary_location":{"id":"doi:10.3390/s20030893","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20030893","pdf_url":"https://www.mdpi.com/1424-8220/20/3/893/pdf?version=1581503614","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/1424-8220/20/3/893/pdf?version=1581503614","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112836742","display_name":"Jie Sun","orcid":"https://orcid.org/0000-0002-8886-7287"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Sun","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","University of Chinese Academy of Sciences, Beijing 100049, China"],"raw_orcid":"https://orcid.org/0000-0002-8886-7287","affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing 100049, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032604786","display_name":"Feng Hu","orcid":"https://orcid.org/0000-0002-0287-0443"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Hu","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"],"raw_orcid":"https://orcid.org/0000-0002-0287-0443","affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005287851","display_name":"Wenming Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenming Jin","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113414416","display_name":"Jin Wang","orcid":"https://orcid.org/0000-0002-8298-4378"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Wang","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100407833","display_name":"Xu Wang","orcid":"https://orcid.org/0000-0001-9885-583X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Wang","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"],"raw_orcid":"https://orcid.org/0000-0001-9885-583X","affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109274574","display_name":"Yeteng Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yeteng Luo","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003282123","display_name":"Jiancheng Yu","orcid":"https://orcid.org/0000-0003-1863-9737"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiancheng Yu","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044575215","display_name":"Aiqun Zhang","orcid":"https://orcid.org/0000-0001-7738-3773"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiqun Zhang","raw_affiliation_strings":["Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5003282123"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.9907,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.84584434,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"20","issue":"3","first_page":"893","last_page":"893"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9977999925613403,"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/T11698","display_name":"Underwater Acoustics Research","score":0.9969000220298767,"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":0.7352283596992493},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.727290153503418},{"id":"https://openalex.org/keywords/underwater-glider","display_name":"Underwater glider","score":0.7143451571464539},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5680662393569946},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5185792446136475},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46577852964401245},{"id":"https://openalex.org/keywords/propeller","display_name":"Propeller","score":0.4287324845790863},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4251341223716736},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39174699783325195},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.355903685092926},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.29724401235580444},{"id":"https://openalex.org/keywords/glider","display_name":"Glider","score":0.2490953505039215},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23036926984786987},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11864650249481201}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.7352283596992493},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.727290153503418},{"id":"https://openalex.org/C34824556","wikidata":"https://www.wikidata.org/wiki/Q2634473","display_name":"Underwater glider","level":3,"score":0.7143451571464539},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5680662393569946},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5185792446136475},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46577852964401245},{"id":"https://openalex.org/C80055088","wikidata":"https://www.wikidata.org/wiki/Q205451","display_name":"Propeller","level":2,"score":0.4287324845790863},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4251341223716736},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39174699783325195},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.355903685092926},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.29724401235580444},{"id":"https://openalex.org/C73525677","wikidata":"https://www.wikidata.org/wiki/Q2396202","display_name":"Glider","level":2,"score":0.2490953505039215},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23036926984786987},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11864650249481201},{"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s20030893","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20030893","pdf_url":"https://www.mdpi.com/1424-8220/20/3/893/pdf?version=1581503614","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:32046168","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32046168","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:1e11564d2fd946baa5a99c213e07f7e4","is_oa":true,"landing_page_url":"https://doaj.org/article/1e11564d2fd946baa5a99c213e07f7e4","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 893 (2020)","raw_type":"article"},{"id":"pmh:oai:ir.sia.cn/:173321/26765","is_oa":false,"landing_page_url":"http://ir.sia.cn/handle/173321/26765","pdf_url":null,"source":{"id":"https://openalex.org/S4377196984","display_name":"SIA OpenIR (Chinese Academy of Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I19820366","host_organization_name":"Chinese Academy of Sciences","host_organization_lineage":["https://openalex.org/I19820366"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u671f\u520a\u8bba\u6587"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/3/893/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s20030893","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:7039302","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7039302","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/s20030893","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20030893","pdf_url":"https://www.mdpi.com/1424-8220/20/3/893/pdf?version=1581503614","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":[{"score":0.8600000143051147,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G1290478896","display_name":null,"funder_award_id":"61673370, U1709202","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/W3005397757.pdf","grobid_xml":"https://content.openalex.org/works/W3005397757.grobid-xml"},"referenced_works_count":67,"referenced_works":["https://openalex.org/W1494119599","https://openalex.org/W1559536185","https://openalex.org/W1613802421","https://openalex.org/W1969058260","https://openalex.org/W1969142081","https://openalex.org/W1975347782","https://openalex.org/W1976726656","https://openalex.org/W1979566785","https://openalex.org/W1982092890","https://openalex.org/W1989617730","https://openalex.org/W1991548196","https://openalex.org/W2002940511","https://openalex.org/W2010927284","https://openalex.org/W2020115865","https://openalex.org/W2036380717","https://openalex.org/W2037799844","https://openalex.org/W2052111957","https://openalex.org/W2067908011","https://openalex.org/W2073736439","https://openalex.org/W2088043574","https://openalex.org/W2094227853","https://openalex.org/W2098635592","https://openalex.org/W2100269650","https://openalex.org/W2105934661","https://openalex.org/W2110976332","https://openalex.org/W2111787305","https://openalex.org/W2116599690","https://openalex.org/W2120975466","https://openalex.org/W2128599223","https://openalex.org/W2136593780","https://openalex.org/W2142434686","https://openalex.org/W2145036865","https://openalex.org/W2145461394","https://openalex.org/W2146485022","https://openalex.org/W2147665831","https://openalex.org/W2148021103","https://openalex.org/W2151797657","https://openalex.org/W2151958281","https://openalex.org/W2161129698","https://openalex.org/W2164443866","https://openalex.org/W2165836812","https://openalex.org/W2166905292","https://openalex.org/W2170396296","https://openalex.org/W2177415451","https://openalex.org/W2237571475","https://openalex.org/W2288672365","https://openalex.org/W2332903050","https://openalex.org/W2429196105","https://openalex.org/W2439775527","https://openalex.org/W2483411986","https://openalex.org/W2502569300","https://openalex.org/W2599968594","https://openalex.org/W2737462832","https://openalex.org/W2790374560","https://openalex.org/W2793671731","https://openalex.org/W2803494911","https://openalex.org/W2811382185","https://openalex.org/W2901653723","https://openalex.org/W2904744507","https://openalex.org/W2938102902","https://openalex.org/W2980649731","https://openalex.org/W3163624061","https://openalex.org/W4232464081","https://openalex.org/W6676540213","https://openalex.org/W6676780147","https://openalex.org/W6684520911","https://openalex.org/W6796234574"],"related_works":["https://openalex.org/W2393405835","https://openalex.org/W2378079040","https://openalex.org/W2064447020","https://openalex.org/W4280636355","https://openalex.org/W4200404818","https://openalex.org/W2166905292","https://openalex.org/W2377170893","https://openalex.org/W4224093652","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"An":[0],"accurate":[1],"motion":[2,82,209],"model":[3,51,83,104,210],"and":[4,14,28,36,98,115,127],"reliable":[5],"measurements":[6],"are":[7,118,155],"required":[8],"for":[9,34,68,84],"autonomous":[10],"underwater":[11,17,23,53,85,106],"vehicle":[12],"localization":[13],"navigation":[15],"in":[16,73,88,183,221,226],"environments.":[18],"However,":[19],"without":[20],"a":[21,48,63,74,81,102,147,184],"propeller,":[22],"gliders":[24,54,86],"have":[25],"limited":[26],"maneuverability":[27],"carrying":[29],"capacity,":[30],"which":[31],"brings":[32],"difficulties":[33],"modeling":[35],"measuring.":[37],"In":[38],"this":[39,227],"paper,":[40],"an":[41,189],"extended":[42],"Kalman":[43],"filter":[44],"(EKF)-based":[45],"method,":[46],"combining":[47],"modified":[49],"kinematic":[50,103],"of":[52,105,124,136,199],"with":[55,109,207],"the":[56,70,89,96,122,128,140,152,158,163,167,175,197,200,208,216,222],"travel-time":[57,141],"differences":[58,142],"between":[59,143],"signals":[60,144],"received":[61,145],"from":[62,146,188],"single":[64,148],"beacon,":[65,149],"is":[66,172,181,203],"proposed":[67,179],"estimating":[69],"glider":[71],"positions":[72],"predict-update":[75],"cycle.":[76],"First,":[77],"to":[78],"accurately":[79],"establish":[80],"moving":[87],"ocean,":[90],"we":[91],"introduce":[92],"two":[93],"modification":[94],"parameters,":[95],"attack":[97,114],"drift":[99,116],"angles,":[100],"into":[101,174],"gliders,":[107],"along":[108],"depth-averaged":[110],"current":[111],"velocities.":[112],"The":[113,178,192],"angles":[117],"calculated":[119],"based":[120],"on":[121],"coefficients":[123],"hydrodynamic":[125],"forces":[126],"sensor-measured":[129],"angle":[130],"variation":[131],"over":[132],"time.":[133],"Then,":[134],"instead":[135],"satisfying":[137],"synchronization":[138],"requirements,":[139],"multiplied":[150],"by":[151,213],"sound":[153],"speed,":[154],"taken":[156],"as":[157],"measurements.":[159],"To":[160],"further":[161],"reduce":[162],"EKF":[164,176],"estimation":[165],"error,":[166],"Rauch-Tung-Striebel":[168],"(RTS)":[169],"smoothing":[170],"method":[171,180],"merged":[173],"system.":[177],"tested":[182],"virtual":[185],"spatiotemporal":[186],"environment":[187],"ocean":[190],"model.":[191],"experimental":[193],"results":[194],"show":[195],"that":[196],"performance":[198],"RTS-EKF":[201],"estimate":[202],"improved":[204],"when":[205],"compared":[206],"estimate,":[211],"especially":[212],"46%":[214],"at":[215,219],"inflection":[217],"point,":[218],"least":[220],"particular":[223],"study":[224],"developed":[225],"article.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}