{"id":"https://openalex.org/W3133546126","doi":"https://doi.org/10.3390/s21061937","title":"Cascaded Complementary Filter Architecture for Sensor Fusion in Attitude Estimation","display_name":"Cascaded Complementary Filter Architecture for Sensor Fusion in Attitude Estimation","publication_year":2021,"publication_date":"2021-03-10","ids":{"openalex":"https://openalex.org/W3133546126","doi":"https://doi.org/10.3390/s21061937","mag":"3133546126","pmid":"https://pubmed.ncbi.nlm.nih.gov/33801865"},"language":"en","primary_location":{"id":"doi:10.3390/s21061937","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21061937","pdf_url":"https://www.mdpi.com/1424-8220/21/6/1937/pdf?version=1615448203","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":["arxiv","crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/6/1937/pdf?version=1615448203","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038631163","display_name":"Parag Narkhede","orcid":"https://orcid.org/0000-0003-1836-4438"},"institutions":[{"id":"https://openalex.org/I244572783","display_name":"Symbiosis International University","ror":"https://ror.org/005r2ww51","country_code":"IN","type":"education","lineage":["https://openalex.org/I244572783"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Parag Narkhede","raw_affiliation_strings":["Symbiosis Institute of Technology, Symbiosis International (Deemed University), Pune 412115, India"],"raw_orcid":"https://orcid.org/0000-0003-1836-4438","affiliations":[{"raw_affiliation_string":"Symbiosis Institute of Technology, Symbiosis International (Deemed University), Pune 412115, India","institution_ids":["https://openalex.org/I244572783"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069253574","display_name":"Shashi Poddar","orcid":null},"institutions":[{"id":"https://openalex.org/I42095658","display_name":"Central Scientific Instruments Organisation","ror":"https://ror.org/04bfs6764","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I42095658","https://openalex.org/I4210134808","https://openalex.org/I66760702"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Shashi Poddar","raw_affiliation_strings":["CSIR-Central Scientific Instruments Organisation, Chandigarh 160030, India"],"raw_orcid":"https://orcid.org/0000-0001-9661-8224","affiliations":[{"raw_affiliation_string":"CSIR-Central Scientific Instruments Organisation, Chandigarh 160030, India","institution_ids":["https://openalex.org/I42095658"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068767089","display_name":"Rahee Walambe","orcid":"https://orcid.org/0000-0003-1745-5231"},"institutions":[{"id":"https://openalex.org/I244572783","display_name":"Symbiosis International University","ror":"https://ror.org/005r2ww51","country_code":"IN","type":"education","lineage":["https://openalex.org/I244572783"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Rahee Walambe","raw_affiliation_strings":["Symbiosis Centre for Applied Artificial Intelligence, Symbiosis International (Deemed University), Pune 412115, India"],"raw_orcid":"https://orcid.org/0000-0003-1745-5231","affiliations":[{"raw_affiliation_string":"Symbiosis Centre for Applied Artificial Intelligence, Symbiosis International (Deemed University), Pune 412115, India","institution_ids":["https://openalex.org/I244572783"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084177841","display_name":"Gheorghi\u021b\u0103 Ghinea","orcid":"https://orcid.org/0000-0003-2578-5580"},"institutions":[{"id":"https://openalex.org/I59433898","display_name":"Brunel University of London","ror":"https://ror.org/00dn4t376","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I59433898"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"George Ghinea","raw_affiliation_strings":["Department of Computer Science, College of Engineering, Brunel University, London UB8 3PH, UK"],"raw_orcid":"https://orcid.org/0000-0003-2578-5580","affiliations":[{"raw_affiliation_string":"Department of Computer Science, College of Engineering, Brunel University, London UB8 3PH, UK","institution_ids":["https://openalex.org/I59433898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077770842","display_name":"Ketan Kotecha","orcid":"https://orcid.org/0000-0003-2653-3780"},"institutions":[{"id":"https://openalex.org/I244572783","display_name":"Symbiosis International University","ror":"https://ror.org/005r2ww51","country_code":"IN","type":"education","lineage":["https://openalex.org/I244572783"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ketan Kotecha","raw_affiliation_strings":["Symbiosis Centre for Applied Artificial Intelligence, Symbiosis International (Deemed University), Pune 412115, India"],"raw_orcid":"https://orcid.org/0000-0003-2653-3780","affiliations":[{"raw_affiliation_string":"Symbiosis Centre for Applied Artificial Intelligence, Symbiosis International (Deemed University), Pune 412115, India","institution_ids":["https://openalex.org/I244572783"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5084177841"],"corresponding_institution_ids":["https://openalex.org/I59433898"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":41.6018,"has_fulltext":true,"cited_by_count":57,"citation_normalized_percentile":{"value":0.99619279,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"21","issue":"6","first_page":"1937","last_page":"1937"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9987000226974487,"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/T14163","display_name":"Astronomical Observations and Instrumentation","score":0.9904000163078308,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6926476955413818},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6802935600280762},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5963135361671448},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.5854699015617371},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4708932042121887},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4245384931564331},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34400731325149536},{"id":"https://openalex.org/keywords/electronic-engineering","display_name":"Electronic engineering","score":0.34022825956344604},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.33270370960235596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3248941898345947},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.24036237597465515},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09431949257850647}],"concepts":[{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6926476955413818},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6802935600280762},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5963135361671448},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.5854699015617371},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4708932042121887},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4245384931564331},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34400731325149536},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.34022825956344604},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.33270370960235596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3248941898345947},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.24036237597465515},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09431949257850647},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.3390/s21061937","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21061937","pdf_url":"https://www.mdpi.com/1424-8220/21/6/1937/pdf?version=1615448203","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:33801865","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33801865","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:arXiv.org:2107.03970","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.03970","pdf_url":"https://arxiv.org/pdf/2107.03970","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:bura.brunel.ac.uk:2438/22572","is_oa":true,"landing_page_url":"https://bura.brunel.ac.uk/handle/2438/22572","pdf_url":null,"source":{"id":"https://openalex.org/S4306401473","display_name":"Brunel University Research Archive (BURA) (Brunel University London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59433898","host_organization_name":"Brunel University of London","host_organization_lineage":["https://openalex.org/I59433898"],"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":"","raw_type":"Article"},{"id":"pmh:oai:doaj.org/article:48ced9a04f4740069dd7afbc0d18ad7a","is_oa":true,"landing_page_url":"https://doaj.org/article/48ced9a04f4740069dd7afbc0d18ad7a","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 6, p 1937 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/6/1937/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21061937","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 21; Issue 6; Pages: 1937","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7998881","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7998881","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/s21061937","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21061937","pdf_url":"https://www.mdpi.com/1424-8220/21/6/1937/pdf?version=1615448203","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":0.6200000047683716,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3133546126.pdf","grobid_xml":"https://content.openalex.org/works/W3133546126.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W264320815","https://openalex.org/W1564768010","https://openalex.org/W1977976974","https://openalex.org/W1985604452","https://openalex.org/W2013357924","https://openalex.org/W2075198545","https://openalex.org/W2125691646","https://openalex.org/W2139362983","https://openalex.org/W2155901528","https://openalex.org/W2160146756","https://openalex.org/W2165009952","https://openalex.org/W2204246008","https://openalex.org/W2497643754","https://openalex.org/W2532146065","https://openalex.org/W2557818991","https://openalex.org/W2592084114","https://openalex.org/W2725898195","https://openalex.org/W2735506811","https://openalex.org/W2767435438","https://openalex.org/W2797032721","https://openalex.org/W2885134067","https://openalex.org/W2889344085","https://openalex.org/W2896235423","https://openalex.org/W2897609011","https://openalex.org/W2899365221","https://openalex.org/W2900285184","https://openalex.org/W2909507558","https://openalex.org/W2915945464","https://openalex.org/W2946120892","https://openalex.org/W2953153328","https://openalex.org/W2964059063","https://openalex.org/W2972392072","https://openalex.org/W2986047745","https://openalex.org/W2986997237","https://openalex.org/W3004149572","https://openalex.org/W3088153564","https://openalex.org/W3108782157"],"related_works":["https://openalex.org/W2588198209","https://openalex.org/W1909006023","https://openalex.org/W4205824991","https://openalex.org/W3200723557","https://openalex.org/W2099421762","https://openalex.org/W2530546662","https://openalex.org/W2132659060","https://openalex.org/W2031992971","https://openalex.org/W3214791684","https://openalex.org/W2152662039"],"abstract_inverted_index":{"Attitude":[0],"estimation":[1,167],"is":[2,56,65,104,126,153,159],"the":[3,7,28,45,59,69,84,95,108,112,116,123,130,136,150,162,166,176],"process":[4],"of":[5,10,19,27,58,72,83,94,122,129,149],"computing":[6],"orientation":[8,36],"angles":[9,37],"an":[11],"object":[12],"with":[13],"respect":[14],"to":[15,49,106,161,171,175],"a":[16,79,89],"fixed":[17],"frame":[18],"reference.":[20],"Gyroscope,":[21],"accelerometer,":[22],"and":[23,91,152,165],"magnetometer":[24],"are":[25,42],"some":[26],"fundamental":[29],"sensors":[30,41],"used":[31,105],"in":[32],"attitude":[33,117],"estimation.":[34],"The":[35,53,101,119,140,156],"computed":[38],"from":[39],"these":[40],"combined":[43],"using":[44],"sensor":[46],"fusion":[47],"methodologies":[48],"obtain":[50],"accurate":[51],"estimates.":[52],"complementary":[54,85,96],"filter":[55,86,97,131],"one":[57,99],"widely":[60],"adopted":[61],"techniques":[62],"whose":[63],"performance":[64],"highly":[66],"dependent":[67],"on":[68],"appropriate":[70],"selection":[71],"its":[73,127],"gain":[74,138],"parameters.":[75,139],"This":[76],"paper":[77],"presents":[78],"novel":[80],"cascaded":[81],"architecture":[82,125,142],"that":[87],"employs":[88],"nonlinear":[90,102],"linear":[92,113],"version":[93,103,114],"within":[98],"framework.":[100],"correct":[107],"gyroscope":[109],"bias,":[110],"while":[111],"estimates":[115],"angle.":[118],"significant":[120],"advantage":[121],"proposed":[124,141,157],"independence":[128],"parameters,":[132],"thereby":[133],"avoiding":[134],"tuning":[135],"filter's":[137],"does":[143],"not":[144],"require":[145],"any":[146],"mathematical":[147],"modeling":[148],"system":[151],"computationally":[154],"inexpensive.":[155],"methodology":[158],"applied":[160],"real-world":[163],"datasets,":[164],"results":[168],"were":[169],"found":[170],"be":[172],"promising":[173],"compared":[174],"other":[177],"state-of-the-art":[178],"algorithms.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}