{"id":"https://openalex.org/W3047098920","doi":"https://doi.org/10.3390/s20164386","title":"VIMO: A Visual-Inertial-Magnetic Navigation System Based on Non-Linear Optimization","display_name":"VIMO: A Visual-Inertial-Magnetic Navigation System Based on Non-Linear Optimization","publication_year":2020,"publication_date":"2020-08-06","ids":{"openalex":"https://openalex.org/W3047098920","doi":"https://doi.org/10.3390/s20164386","mag":"3047098920","pmid":"https://pubmed.ncbi.nlm.nih.gov/32781582"},"language":"en","primary_location":{"id":"doi:10.3390/s20164386","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20164386","pdf_url":"https://www.mdpi.com/1424-8220/20/16/4386/pdf?version=1596708413","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/1424-8220/20/16/4386/pdf?version=1596708413","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101542668","display_name":"Jingzhe Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingzhe Wang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":"https://orcid.org/0000-0002-1902-9271","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100681959","display_name":"Leilei Li","orcid":"https://orcid.org/0009-0009-0146-0475"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Leilei Li","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100607514","display_name":"Huan Yu","orcid":"https://orcid.org/0000-0001-9434-3693"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huan Yu","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":"https://orcid.org/0000-0001-9434-3693","affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011441751","display_name":"Xunya Gui","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xunya Gui","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024768808","display_name":"Zucheng Li","orcid":"https://orcid.org/0000-0001-5951-6165"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zucheng Li","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100681959"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":3.258,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.94945352,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"20","issue":"16","first_page":"4386","last_page":"4386"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9937000274658203,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/odometer","display_name":"Odometer","score":0.8478614091873169},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7878800630569458},{"id":"https://openalex.org/keywords/unobservable","display_name":"Unobservable","score":0.630150556564331},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6180510520935059},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5794348120689392},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.5780557990074158},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.569172739982605},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5260325074195862},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5247345566749573},{"id":"https://openalex.org/keywords/units-of-measurement","display_name":"Units of measurement","score":0.474250465631485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43331044912338257},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.4320037364959717},{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.4258498251438141},{"id":"https://openalex.org/keywords/inertial-reference-unit","display_name":"Inertial reference unit","score":0.41013067960739136},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4061673581600189},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1844148337841034},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.08651039004325867},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07687801122665405}],"concepts":[{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.8478614091873169},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7878800630569458},{"id":"https://openalex.org/C2780695315","wikidata":"https://www.wikidata.org/wiki/Q3799040","display_name":"Unobservable","level":2,"score":0.630150556564331},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6180510520935059},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5794348120689392},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.5780557990074158},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.569172739982605},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5260325074195862},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5247345566749573},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.474250465631485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43331044912338257},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.4320037364959717},{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.4258498251438141},{"id":"https://openalex.org/C189096121","wikidata":"https://www.wikidata.org/wiki/Q6028512","display_name":"Inertial reference unit","level":4,"score":0.41013067960739136},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4061673581600189},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1844148337841034},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.08651039004325867},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07687801122665405},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s20164386","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20164386","pdf_url":"https://www.mdpi.com/1424-8220/20/16/4386/pdf?version=1596708413","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:32781582","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32781582","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:f913ee26fc6047f0899b47544d62fa8f","is_oa":true,"landing_page_url":"https://doaj.org/article/f913ee26fc6047f0899b47544d62fa8f","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 16, p 4386 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/16/4386/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s20164386","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; Volume 20; Issue 16; Pages: 4386","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7472289","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7472289","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/s20164386","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20164386","pdf_url":"https://www.mdpi.com/1424-8220/20/16/4386/pdf?version=1596708413","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/G1720635476","display_name":null,"funder_award_id":"90920304","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3435257893","display_name":null,"funder_award_id":"91120010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4925665873","display_name":null,"funder_award_id":"91420203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6779671458","display_name":null,"funder_award_id":"91420203; 90920304; 91120010","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"},{"id":"https://openalex.org/F4320323110","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3047098920.pdf","grobid_xml":"https://content.openalex.org/works/W3047098920.grobid-xml"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1514802394","https://openalex.org/W1562603105","https://openalex.org/W1612997784","https://openalex.org/W1969726450","https://openalex.org/W1991172434","https://openalex.org/W1991793962","https://openalex.org/W2037050532","https://openalex.org/W2065742895","https://openalex.org/W2086325065","https://openalex.org/W2091790851","https://openalex.org/W2094330412","https://openalex.org/W2097088077","https://openalex.org/W2098860918","https://openalex.org/W2107796986","https://openalex.org/W2118223742","https://openalex.org/W2118877769","https://openalex.org/W2120109662","https://openalex.org/W2130103520","https://openalex.org/W2132453268","https://openalex.org/W2152671441","https://openalex.org/W2152953739","https://openalex.org/W2169207653","https://openalex.org/W2216550548","https://openalex.org/W2295862812","https://openalex.org/W2342437324","https://openalex.org/W2482726005","https://openalex.org/W2538522345","https://openalex.org/W2758772066","https://openalex.org/W2768130891","https://openalex.org/W2770709792","https://openalex.org/W2899887623","https://openalex.org/W2977619045","https://openalex.org/W2997494682","https://openalex.org/W2999671232","https://openalex.org/W3009888212","https://openalex.org/W3016856012","https://openalex.org/W3023925275","https://openalex.org/W3025529323","https://openalex.org/W3027404855","https://openalex.org/W3103648783","https://openalex.org/W3124656256","https://openalex.org/W3125449081","https://openalex.org/W4246614213","https://openalex.org/W6667148440","https://openalex.org/W6679388247","https://openalex.org/W6704461802"],"related_works":["https://openalex.org/W3005570398","https://openalex.org/W3005892436","https://openalex.org/W2356818805","https://openalex.org/W3044239796","https://openalex.org/W4236994605","https://openalex.org/W2538450875","https://openalex.org/W3179847612","https://openalex.org/W2890051265","https://openalex.org/W2739637418","https://openalex.org/W2782016042"],"abstract_inverted_index":{"Visual-inertial":[0],"navigation":[1],"systems":[2,31],"are":[3],"credited":[4],"with":[5],"superiority":[6],"over":[7],"both":[8],"pure":[9],"visual":[10,61,92],"approaches":[11],"and":[12,62,89,105,134,150,154,164],"filtering":[13],"ones.":[14],"In":[15],"spite":[16],"of":[17,86,160,168,171],"the":[18,33,84,91,118,145,158,161,165,169,175],"high":[19],"precision":[20],"many":[21],"state-of-the-art":[22],"schemes":[23],"have":[24,130],"attained,":[25],"yaw":[26,37],"remains":[27],"unobservable":[28],"in":[29,73,139],"those":[30],"all":[32],"same.":[34],"More":[35],"accurate":[36,43],"estimation":[38],"not":[39],"only":[40],"means":[41],"more":[42],"attitude":[44],"calculation":[45],"but":[46],"also":[47],"leads":[48],"to":[49,143],"better":[50],"position":[51],"estimation.":[52],"This":[53],"paper":[54],"presents":[55],"a":[56,111,124],"novel":[57,76],"scheme":[58,163],"that":[59],"combines":[60],"inertial":[63,95],"measurements":[64],"as":[65,67,123],"well":[66],"magnetic":[68,87,172],"information":[69,173],"for":[70,78],"suppressing":[71],"deviation":[72],"yaw.":[74],"A":[75],"method":[77],"initializing":[79],"visual-inertial-magnetic":[80],"odometers,":[81],"which":[82],"recovers":[83],"directions":[85],"north":[88],"gravity,":[90],"scalar":[93],"factor,":[94],"measurement":[96],"unit":[97],"(IMU)":[98],"biases":[99],"etc.,":[100],"has":[101],"been":[102],"conceived,":[103],"implemented,":[104],"validated.":[106],"Based":[107],"on":[108,174],"non-linear":[109],"optimization,":[110],"magnetometer":[112],"cost":[113],"function":[114,122],"is":[115],"incorporated":[116],"into":[117],"overall":[119,176],"optimization":[120],"objective":[121],"yawing":[125],"constraint":[126],"among":[127],"others.":[128],"We":[129],"done":[131],"extensive":[132],"research":[133],"collected":[135],"several":[136],"datasets":[137],"recorded":[138],"large-scale":[140],"outdoor":[141],"environments":[142],"certify":[144],"proposed":[146,162],"system's":[147],"viability,":[148],"robustness,":[149],"performance.":[151,177],"Cogent":[152],"experiments":[153],"quantitative":[155],"comparisons":[156],"corroborate":[157],"merits":[159],"desired":[166],"effect":[167],"involvement":[170]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}