{"id":"https://openalex.org/W3200059726","doi":"https://doi.org/10.3390/s21196351","title":"Improving Attitude Estimation Using Gaussian-Process-Regression-Based Magnetic Field Maps","display_name":"Improving Attitude Estimation Using Gaussian-Process-Regression-Based Magnetic Field Maps","publication_year":2021,"publication_date":"2021-09-23","ids":{"openalex":"https://openalex.org/W3200059726","doi":"https://doi.org/10.3390/s21196351","mag":"3200059726","pmid":"https://pubmed.ncbi.nlm.nih.gov/34640685"},"language":"en","primary_location":{"id":"doi:10.3390/s21196351","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21196351","pdf_url":"https://www.mdpi.com/1424-8220/21/19/6351/pdf?version=1633680954","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/1424-8220/21/19/6351/pdf?version=1633680954","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056885799","display_name":"Prince Kuevor","orcid":"https://orcid.org/0000-0003-0750-0895"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Prince E. Kuevor","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, MI 48109, USA"],"raw_orcid":"https://orcid.org/0000-0003-0750-0895","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, MI 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076981531","display_name":"James Cutler","orcid":"https://orcid.org/0000-0002-6984-6851"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James W. Cutler","raw_affiliation_strings":["Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, USA"],"raw_orcid":"https://orcid.org/0000-0002-6984-6851","affiliations":[{"raw_affiliation_string":"Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000130413","display_name":"Ella Atkins","orcid":"https://orcid.org/0000-0003-2132-6256"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ella M. Atkins","raw_affiliation_strings":["Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, USA"],"raw_orcid":"https://orcid.org/0000-0003-2132-6256","affiliations":[{"raw_affiliation_string":"Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5056885799"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":3.2285,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94586852,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"21","issue":"19","first_page":"6351","last_page":"6351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9994000196456909,"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":0.9994000196456909,"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":0.995199978351593,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9939000010490417,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.83152174949646},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.7129834890365601},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5955793857574463},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.5852652788162231},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5207629203796387},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.48660004138946533},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4447079598903656},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.43257269263267517},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4290931522846222},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2114255726337433},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20561832189559937},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1491999626159668}],"concepts":[{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.83152174949646},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.7129834890365601},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5955793857574463},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.5852652788162231},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5207629203796387},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.48660004138946533},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4447079598903656},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.43257269263267517},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4290931522846222},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2114255726337433},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20561832189559937},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1491999626159668},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008280","descriptor_name":"Magnetics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008280","descriptor_name":"Magnetics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008280","descriptor_name":"Magnetics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016011","descriptor_name":"Normal Distribution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016011","descriptor_name":"Normal Distribution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016011","descriptor_name":"Normal Distribution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D060526","descriptor_name":"Magnetic Fields","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s21196351","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21196351","pdf_url":"https://www.mdpi.com/1424-8220/21/19/6351/pdf?version=1633680954","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:34640685","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34640685","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:751dd1964e3043289d94d071bbd7362d","is_oa":true,"landing_page_url":"https://doaj.org/article/751dd1964e3043289d94d071bbd7362d","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 19, p 6351 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/19/6351/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21196351","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 19; Pages: 6351","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8512033","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8512033","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/s21196351","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21196351","pdf_url":"https://www.mdpi.com/1424-8220/21/19/6351/pdf?version=1633680954","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":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3200059726.pdf"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W636927631","https://openalex.org/W1482680353","https://openalex.org/W1563284204","https://openalex.org/W1967653388","https://openalex.org/W1979249578","https://openalex.org/W1985031897","https://openalex.org/W1987175728","https://openalex.org/W1993822432","https://openalex.org/W2018589614","https://openalex.org/W2029143333","https://openalex.org/W2037034232","https://openalex.org/W2058846534","https://openalex.org/W2068546584","https://openalex.org/W2076527385","https://openalex.org/W2082839938","https://openalex.org/W2119732732","https://openalex.org/W2122750542","https://openalex.org/W2134449806","https://openalex.org/W2138651320","https://openalex.org/W2139362983","https://openalex.org/W2140268640","https://openalex.org/W2150839555","https://openalex.org/W2161872204","https://openalex.org/W2169462560","https://openalex.org/W2202924443","https://openalex.org/W2502569300","https://openalex.org/W2608534790","https://openalex.org/W2767797175","https://openalex.org/W2767844447","https://openalex.org/W2769626688","https://openalex.org/W2782715402","https://openalex.org/W2793892555","https://openalex.org/W2794593912","https://openalex.org/W2846905537","https://openalex.org/W2964029185","https://openalex.org/W2964103707","https://openalex.org/W2964250998","https://openalex.org/W2968243907","https://openalex.org/W2972493093","https://openalex.org/W3015361025","https://openalex.org/W3018727159","https://openalex.org/W3022553863","https://openalex.org/W3028580964","https://openalex.org/W3049208165","https://openalex.org/W3130887622","https://openalex.org/W3173959107","https://openalex.org/W4211049957","https://openalex.org/W6687862120","https://openalex.org/W6767127792","https://openalex.org/W6776556688"],"related_works":["https://openalex.org/W2074940407","https://openalex.org/W1968523686","https://openalex.org/W2035596186","https://openalex.org/W2885295284","https://openalex.org/W2398658113","https://openalex.org/W309521798","https://openalex.org/W1502875874","https://openalex.org/W4302027234","https://openalex.org/W1905009105","https://openalex.org/W3046171984"],"abstract_inverted_index":{"Magnetometers":[0],"measure":[1],"the":[2,35,59,83,140,144,168,202,237],"local":[3],"magnetic":[4,36,54,62,84,141,159,169,178,251],"field":[5,37,55,85,142,170,179,252],"and":[6,51,86,116,228],"are":[7,19,28,185],"present":[8],"in":[9,77,139,171,201,243,247],"most":[10,42],"modern":[11],"inertial":[12,104],"measurement":[13],"units":[14],"(IMUs).":[15],"Readings":[16],"from":[17,182,195],"magnetometers":[18],"used":[20],"to":[21,48,57,80,87,119,131,134,164],"identify":[22],"Earth's":[23],"Magnetic":[24],"North":[25],"outdoors,":[26],"but":[27,189],"often":[29],"ignored":[30],"during":[31],"indoor":[32],"experiments":[33,93],"since":[34],"does":[38],"not":[39],"behave":[40],"how":[41,136],"expect.":[43],"This":[44],"paper":[45],"presents":[46,152],"methods":[47],"create,":[49],"validate,":[50],"visualize":[52],"three-dimensional":[53],"maps":[56,74,180,192,219,242],"expand":[58],"use":[60],"of":[61,72,156,204,223,231,239,249],"fields":[63],"as":[64],"a":[65,99,153],"sensing":[66],"modality":[67],"for":[68,123,146],"navigation.":[69],"The":[70],"utility":[71,238],"these":[73,205],"is":[75,199],"measured":[76],"their":[78,172],"ability":[79],"accurately":[81],"represent":[82],"enable":[88],"dynamic":[89],"attitude":[90,124,245],"estimation.":[91,125],"In":[92],"with":[94,102,220,255],"motion":[95,118],"capture":[96],"truth":[97],"data,":[98],"small":[100],"multicopter":[101],"three-axis":[103],"measurements,":[105],"including":[106],"magnetometer,":[107],"traversed":[108],"five":[109],"flight":[110,197],"profiles":[111],"distinctly":[112],"exciting":[113],"roll,":[114],"pitch,":[115],"yaw":[117],"provide":[120],"interesting":[121],"trajectories":[122],"Indoor":[126],"experimental":[127,256],"results":[128],"were":[129,210],"compared":[130],"those":[132],"outdoors":[133],"emphasize":[135],"spatial":[137,253],"variation":[138,254],"drives":[143],"need":[145],"our":[147,240],"mapping":[148],"techniques.":[149],"Our":[150],"work":[151],"new":[154],"way":[155],"visualizing":[157],"3D":[158],"fields,":[160],"which":[161,217],"allows":[162],"users":[163],"better":[165],"reason":[166],"about":[167],"workspace.":[173],"Next,":[174],"we":[175,235],"show":[176],"that":[177],"generated":[181],"coverage":[183],"patterns":[184],"generally":[186],"more":[187],"accurate,":[188],"training":[190,208],"such":[191],"using":[193,212],"observations":[194],"desired":[196],"paths":[198],"sufficient":[200],"vicinity":[203],"paths.":[206],"All":[207],"sets":[209],"interpolated":[211],"Gaussian":[213],"process":[214],"regression":[215],"(GPR),":[216],"yielded":[218],"<1":[221],"\u03bcT":[222],"error":[224],"when":[225],"interpolating":[226],"between":[227],"extrapolating":[229],"outside":[230],"observed":[232],"locations.":[233],"Finally,":[234],"validated":[236],"GPR-based":[241],"enabling":[244],"estimates":[246],"regions":[248],"high":[250],"data.":[257]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
