{"id":"https://openalex.org/W3076249718","doi":"https://doi.org/10.3390/s20174702","title":"GNSS/IMU/ODO/LiDAR-SLAM Integrated Navigation System Using IMU/ODO Pre-Integration","display_name":"GNSS/IMU/ODO/LiDAR-SLAM Integrated Navigation System Using IMU/ODO Pre-Integration","publication_year":2020,"publication_date":"2020-08-20","ids":{"openalex":"https://openalex.org/W3076249718","doi":"https://doi.org/10.3390/s20174702","mag":"3076249718","pmid":"https://pubmed.ncbi.nlm.nih.gov/32825329"},"language":"en","primary_location":{"id":"doi:10.3390/s20174702","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20174702","pdf_url":"https://www.mdpi.com/1424-8220/20/17/4702/pdf?version=1597992453","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/1424-8220/20/17/4702/pdf?version=1597992453","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012120519","display_name":"Le Chang","orcid":"https://orcid.org/0000-0002-1205-4220"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Le Chang","raw_affiliation_strings":["GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005541527","display_name":"Xiaoji Niu","orcid":"https://orcid.org/0000-0002-5591-0859"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaoji Niu","raw_affiliation_strings":["GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100430610","display_name":"Tianyi Liu","orcid":"https://orcid.org/0000-0003-1442-5344"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyi Liu","raw_affiliation_strings":["GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China"],"affiliations":[{"raw_affiliation_string":"GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5005541527"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":80.2034,"has_fulltext":true,"cited_by_count":87,"citation_normalized_percentile":{"value":0.99859524,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"20","issue":"17","first_page":"4702","last_page":"4702"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9901999831199646,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"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/odometer","display_name":"Odometer","score":0.9162380695343018},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8355080485343933},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.8298922777175903},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6551485657691956},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5797868371009827},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5792412161827087},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.5329182147979736},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4780193567276001},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4679652154445648},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45811715722084045},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.443763792514801},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.4144909977912903},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.336572527885437},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3043085038661957},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.2118891179561615},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17841872572898865},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17074942588806152},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11251622438430786},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.06919574737548828}],"concepts":[{"id":"https://openalex.org/C93717769","wikidata":"https://www.wikidata.org/wiki/Q745105","display_name":"Odometer","level":2,"score":0.9162380695343018},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8355080485343933},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8298922777175903},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6551485657691956},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5797868371009827},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5792412161827087},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.5329182147979736},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4780193567276001},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4679652154445648},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45811715722084045},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.443763792514801},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.4144909977912903},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.336572527885437},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3043085038661957},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.2118891179561615},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17841872572898865},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17074942588806152},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11251622438430786},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.06919574737548828},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s20174702","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20174702","pdf_url":"https://www.mdpi.com/1424-8220/20/17/4702/pdf?version=1597992453","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:32825329","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32825329","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:2a974f63c1ac4b83987db5af3356a9bb","is_oa":true,"landing_page_url":"https://doaj.org/article/2a974f63c1ac4b83987db5af3356a9bb","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 20, Iss 17, p 4702 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/17/4702/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s20174702","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 17; Pages: 4702","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7506683","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7506683","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","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":"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/s20174702","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20174702","pdf_url":"https://www.mdpi.com/1424-8220/20/17/4702/pdf?version=1597992453","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":0.7200000286102295,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G1004393573","display_name":null,"funder_award_id":"2018YFB1305001","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3076249718.pdf","grobid_xml":"https://content.openalex.org/works/W3076249718.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1980641585","https://openalex.org/W2081547245","https://openalex.org/W2127578024","https://openalex.org/W2130763585","https://openalex.org/W2133820918","https://openalex.org/W2146881125","https://openalex.org/W2160626949","https://openalex.org/W2165796786","https://openalex.org/W2284235502","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2461937780","https://openalex.org/W2565651782","https://openalex.org/W2566692295","https://openalex.org/W2745859992","https://openalex.org/W2754869336","https://openalex.org/W2756242387","https://openalex.org/W2795758935","https://openalex.org/W2803993251","https://openalex.org/W2909908358","https://openalex.org/W2942911839","https://openalex.org/W2973108181","https://openalex.org/W2990811426","https://openalex.org/W2994073334","https://openalex.org/W2999936106","https://openalex.org/W3025490466","https://openalex.org/W3029142183","https://openalex.org/W3124420883","https://openalex.org/W4246483956","https://openalex.org/W4249866455","https://openalex.org/W6750251901"],"related_works":["https://openalex.org/W2392875882","https://openalex.org/W3005892436","https://openalex.org/W2536504876","https://openalex.org/W2989564752","https://openalex.org/W2358256220","https://openalex.org/W2331134302","https://openalex.org/W1572218428","https://openalex.org/W2225974670","https://openalex.org/W2089381258","https://openalex.org/W2700285817"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"proposed":[4,127,173,269],"a":[5],"multi-sensor":[6],"integrated":[7,271],"navigation":[8,14,70,128,140,155,174,204,272,290],"system":[9,129,175,273],"composed":[10],"of":[11,90,106,136,143,163,208,241],"GNSS":[12,52,147,298],"(global":[13],"satellite":[15],"system),":[16],"IMU":[17],"(inertial":[18,154],"measurement":[19],"unit),":[20],"odometer":[21,76,210,243],"(ODO),":[22],"and":[23,27,31,57,61,119,134,181,187,211,249,260,287,303],"LiDAR":[24],"(light":[25],"detection":[26],"ranging)-SLAM":[28],"(simultaneous":[29],"localization":[30],"mapping).":[32],"The":[33,44,75,93,122,219],"dead":[34],"reckoning":[35],"results":[36,71],"were":[37,113,176],"obtained":[38],"using":[39],"IMU/ODO":[40,54],"in":[41,72,80,115,171,221,228,244,264,293],"the":[42,51,58,68,73,81,86,91,102,107,126,139,144,151,158,164,172,184,191,201,206,209,222,234,239,242,245,253,257,262,265,268,277,284,297],"front-end.":[43],"graph":[45,108],"optimization":[46],"was":[47,97,194],"used":[48],"to":[49,66,84,100,150,200,282],"fuse":[50,276],"position,":[53],"pre-integration":[55,82,246],"results,":[56],"relative":[59,62],"position":[60,166],"attitude":[63],"from":[64,279],"LiDAR-SLAM":[65,235],"obtain":[67],"final":[69],"back-end.":[74],"information":[77,278],"is":[78,247,300],"introduced":[79],"algorithm":[83],"mitigate":[85,289],"large":[87],"drift":[88,141,167,255],"rate":[89],"IMU.":[92],"sliding":[94],"window":[95],"method":[96],"also":[98],"adopted":[99],"avoid":[101],"increasing":[103],"parameter":[104],"numbers":[105],"optimization.":[109],"Land":[110],"vehicle":[111],"tests":[112,123],"conducted":[114],"both":[116],"open-sky":[117],"areas":[118,232,295],"tunnel":[120,224],"cases.":[121],"showed":[124],"that":[125,227],"can":[130,236,250,274],"effectually":[131,251,275],"improve":[132],"accuracy":[133],"robustness":[135],"navigation.":[137],"During":[138],"evaluation":[142],"mimic":[145],"two-minute":[146],"outages,":[148],"compared":[149,199],"conventional":[152],"GNSS/INS":[153],"system)/ODO":[156],"integration,":[157],"root":[159],"mean":[160],"square":[161],"(RMS)":[162],"maximum":[165],"errors":[168],"during":[169],"outages":[170],"reduced":[177,195,214],"by":[178,196,217],"62.8%,":[179],"72.3%,":[180],"52.1%,":[182],"along":[183,256],"north,":[185],"east,":[186],"height,":[188],"respectively.":[189],"Moreover,":[190],"yaw":[192],"error":[193,216],"62.1%.":[197],"Furthermore,":[198],"GNSS/IMU/LiDAR-SLAM":[202],"integration":[203],"system,":[205],"assistance":[207,240],"non-holonomic":[212],"constraint":[213],"vertical":[215],"72.3%.":[218],"test":[220],"real":[223],"case":[225],"shows":[226],"weak":[229],"environmental":[230,304],"feature":[231],"where":[233,296],"barely":[237],"work,":[238],"critical":[248],"reduce":[252],"positioning":[254],"forward":[258],"direction":[259],"maintain":[261,283],"SLAM":[263,285],"short-term.":[266],"Therefore,":[267],"GNSS/IMU/ODO/LiDAR-SLAM":[270],"multiple":[280],"sources":[281],"process":[286],"significantly":[288],"error,":[291],"especially":[292],"harsh":[294],"signal":[299],"severely":[301],"degraded":[302],"features":[305],"are":[306],"insufficient":[307],"for":[308],"LiDAR-SLAM.":[309]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
