{"id":"https://openalex.org/W3117390952","doi":"https://doi.org/10.3390/s21010007","title":"A Novel IMU Extrinsic Calibration Method for Mass Production Land Vehicles","display_name":"A Novel IMU Extrinsic Calibration Method for Mass Production Land Vehicles","publication_year":2020,"publication_date":"2020-12-22","ids":{"openalex":"https://openalex.org/W3117390952","doi":"https://doi.org/10.3390/s21010007","mag":"3117390952","pmid":"https://pubmed.ncbi.nlm.nih.gov/33374942"},"language":"en","primary_location":{"id":"doi:10.3390/s21010007","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21010007","pdf_url":"https://www.mdpi.com/1424-8220/21/1/7/pdf?version=1608718025","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/1424-8220/21/1/7/pdf?version=1608718025","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068426209","display_name":"Vicent Rodrigo Marco","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]},{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Vicent Rodrigo Marco","raw_affiliation_strings":["Control Systems Group, Department of Electrical Engineering and Computer Science, Technische Universit\u00e4t Berlin, D-10587 Berlin, Germany","Research and Development, Daimler AG, 71059 Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Systems Group, Department of Electrical Engineering and Computer Science, Technische Universit\u00e4t Berlin, D-10587 Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"Research and Development, Daimler AG, 71059 Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041591968","display_name":"Jens Kalkkuhl","orcid":null},"institutions":[{"id":"https://openalex.org/I891521709","display_name":"Daimler (Germany)","ror":"https://ror.org/00m0j3d84","country_code":"DE","type":"company","lineage":["https://openalex.org/I891521709"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Kalkkuhl","raw_affiliation_strings":["Research and Development, Daimler AG, 71059 Sindelfingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Development, Daimler AG, 71059 Sindelfingen, Germany","institution_ids":["https://openalex.org/I891521709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033002944","display_name":"J\u00f6rg Raisch","orcid":"https://orcid.org/0000-0002-8724-0773"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J\u00f6rg Raisch","raw_affiliation_strings":["Control Systems Group, Department of Electrical Engineering and Computer Science, Technische Universit\u00e4t Berlin, D-10587 Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Systems Group, Department of Electrical Engineering and Computer Science, Technische Universit\u00e4t Berlin, D-10587 Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039578386","display_name":"Thomas Seel","orcid":"https://orcid.org/0000-0002-6920-1690"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Seel","raw_affiliation_strings":["Control Systems Group, Department of Electrical Engineering and Computer Science, Technische Universit\u00e4t Berlin, D-10587 Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Systems Group, Department of Electrical Engineering and Computer Science, Technische Universit\u00e4t Berlin, D-10587 Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5068426209"],"corresponding_institution_ids":["https://openalex.org/I4577782","https://openalex.org/I891521709"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2112},"apc_paid":{"value":1978,"currency":"EUR","value_usd":2133},"fwci":17.9832,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.98523174,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"21","issue":"1","first_page":"7","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9977999925613403,"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":0.9977999925613403,"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/T14163","display_name":"Astronomical Observations and Instrumentation","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.924234926700592},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.7014586925506592},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6312740445137024},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5721756219863892},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.539421796798706},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5248268246650696},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.5188882946968079},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43234097957611084},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3646967113018036},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.30361422896385193},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10356146097183228},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07394292950630188}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.924234926700592},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.7014586925506592},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6312740445137024},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5721756219863892},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.539421796798706},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5248268246650696},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.5188882946968079},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43234097957611084},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3646967113018036},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.30361422896385193},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10356146097183228},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07394292950630188},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s21010007","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21010007","pdf_url":"https://www.mdpi.com/1424-8220/21/1/7/pdf?version=1608718025","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:33374942","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33374942","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":"Journal Article"},{"id":"pmh:oai:europepmc.org:6703355","is_oa":true,"landing_page_url":"http://europepmc.org/pmc/articles/PMC7792609","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7792609","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7792609","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"},{"id":"pmh:oai:doaj.org/article:289fe65782404ef1a482909642419f10","is_oa":true,"landing_page_url":"https://doaj.org/article/289fe65782404ef1a482909642419f10","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 21, Iss 1, p 7 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s21010007","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21010007","pdf_url":"https://www.mdpi.com/1424-8220/21/1/7/pdf?version=1608718025","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":[{"id":"https://metadata.un.org/sdg/12","display_name":"Responsible consumption and production","score":0.5099999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320324094","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3117390952.pdf","grobid_xml":"https://content.openalex.org/works/W3117390952.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W48624453","https://openalex.org/W595289004","https://openalex.org/W1969967920","https://openalex.org/W1977353439","https://openalex.org/W1989760884","https://openalex.org/W2001079686","https://openalex.org/W2010236714","https://openalex.org/W2013002270","https://openalex.org/W2014289136","https://openalex.org/W2021503353","https://openalex.org/W2036117503","https://openalex.org/W2038430283","https://openalex.org/W2048249748","https://openalex.org/W2062525513","https://openalex.org/W2117668073","https://openalex.org/W2117876478","https://openalex.org/W2122512809","https://openalex.org/W2136984504","https://openalex.org/W2140924050","https://openalex.org/W2167981441","https://openalex.org/W2178753845","https://openalex.org/W2217704886","https://openalex.org/W2258998227","https://openalex.org/W2296360731","https://openalex.org/W2344953603","https://openalex.org/W2503737069","https://openalex.org/W2649178664","https://openalex.org/W2737927938","https://openalex.org/W2766302933","https://openalex.org/W2794852478","https://openalex.org/W2803993251","https://openalex.org/W2886730815","https://openalex.org/W2899041205","https://openalex.org/W2900586385","https://openalex.org/W2904384437","https://openalex.org/W2952426663","https://openalex.org/W2965365980","https://openalex.org/W3022538979","https://openalex.org/W3029142183","https://openalex.org/W4243538080","https://openalex.org/W4256074317","https://openalex.org/W4283374763","https://openalex.org/W6812209995"],"related_works":["https://openalex.org/W2593280956","https://openalex.org/W2998370018","https://openalex.org/W2004312940","https://openalex.org/W3125052734","https://openalex.org/W2597513713","https://openalex.org/W3206500252","https://openalex.org/W2803265893","https://openalex.org/W3123982513","https://openalex.org/W4391249506","https://openalex.org/W1909961747"],"abstract_inverted_index":{"Multi-modal":[0],"sensor":[1,16,177],"fusion":[2,17],"has":[3],"become":[4],"ubiquitous":[5],"in":[6,18,33,191,196],"the":[7,23,27,30,35,57,78,84,87,90,98,123,133,142,145,153,160,169,197],"field":[8],"of":[9,26,60,86,144,168,193],"vehicle":[10,63,93,163],"motion":[11],"estimation.":[12],"Achieving":[13],"a":[14,20,61,81,107,126,156],"consistent":[15],"such":[19],"set-up":[21],"demands":[22],"precise":[24],"knowledge":[25],"misalignments":[28],"between":[29,89,155],"coordinate":[31,94,164],"systems":[32],"which":[34],"different":[36],"information":[37],"sources":[38],"are":[39],"expressed.":[40],"In":[41],"ego-motion":[42],"estimation,":[43],"even":[44],"sub-degree":[45],"misalignment":[46,88,146,154],"errors":[47],"lead":[48],"to":[49],"serious":[50],"performance":[51],"degradation.":[52],"The":[53,101,166,179],"present":[54],"work":[55],"addresses":[56],"extrinsic":[58],"calibration":[59,171],"land":[62],"equipped":[64],"with":[65],"standard":[66],"production":[67],"car":[68],"sensors":[69],"and":[70,92,110,114,135,159,162],"an":[71,117],"automotive-grade":[72],"inertial":[73],"measurement":[74],"unit":[75],"(IMU).":[76],"Specifically,":[77],"article":[79],"presents":[80],"method":[82],"for":[83],"estimation":[85,102,112,183],"IMU":[91,99,124,161],"systems,":[95],"while":[96],"considering":[97],"biases.":[100],"problem":[103],"is":[104,173],"treated":[105],"as":[106,130,132],"joint":[108],"state":[109],"parameter":[111],"problem,":[113],"solved":[115],"using":[116,175],"adaptive":[118],"estimator":[119],"that":[120,141,182],"relies":[121],"on":[122],"measurements,":[125],"dynamic":[127],"single-track":[128],"model":[129],"well":[131],"suspension":[134],"odometry":[136],"systems.":[137,165],"Additionally,":[138],"we":[139],"show":[140,181],"validity":[143],"estimates":[147],"can":[148,188],"be":[149,189],"assessed":[150],"by":[151],"identifying":[152],"high-precision":[157],"INS/GNSS":[158],"effectiveness":[167],"proposed":[170],"procedure":[172],"demonstrated":[174],"real":[176],"data.":[178],"results":[180],"accuracies":[184],"below":[185],"0.1":[186],"degrees":[187],"achieved":[190],"spite":[192],"moderate":[194],"variations":[195],"manoeuvre":[198],"execution.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2021-01-05T00:00:00"}