{"id":"https://openalex.org/W4283805147","doi":"https://doi.org/10.3390/s22135016","title":"An Adaptive Filtering Method for Cooperative Localization in Leader\u2013Follower AUVs","display_name":"An Adaptive Filtering Method for Cooperative Localization in Leader\u2013Follower AUVs","publication_year":2022,"publication_date":"2022-07-02","ids":{"openalex":"https://openalex.org/W4283805147","doi":"https://doi.org/10.3390/s22135016","pmid":"https://pubmed.ncbi.nlm.nih.gov/35808511"},"language":"en","primary_location":{"id":"doi:10.3390/s22135016","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22135016","pdf_url":"https://www.mdpi.com/1424-8220/22/13/5016/pdf?version=1657179441","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/1424-8220/22/13/5016/pdf?version=1657179441","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Lin Zhao","orcid":"https://orcid.org/0000-0002-2096-5980"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Zhao","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China"],"raw_orcid":"https://orcid.org/0000-0002-2096-5980","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100991800","display_name":"Hong\u2010Yi Dai","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong-Yi Dai","raw_affiliation_strings":["College of Science, National University of Defense Technology, Changsha 410073, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Science, National University of Defense Technology, Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003361222","display_name":"Lin Lang","orcid":"https://orcid.org/0000-0001-8924-4412"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Lang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100447279","display_name":"Ming Zhang","orcid":"https://orcid.org/0000-0002-5796-4754"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ming Zhang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100447279"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":1.4521,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.78588768,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"22","issue":"13","first_page":"5016","last_page":"5016"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4909804165363312},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36164391040802},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3367650508880615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3063269853591919}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4909804165363312},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36164391040802},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3367650508880615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3063269853591919},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012107","descriptor_name":"Research Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012107","descriptor_name":"Research Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012107","descriptor_name":"Research Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22135016","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22135016","pdf_url":"https://www.mdpi.com/1424-8220/22/13/5016/pdf?version=1657179441","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:35808511","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35808511","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:68832c67544b4ecc8edd63e64ab620ff","is_oa":true,"landing_page_url":"https://doaj.org/article/68832c67544b4ecc8edd63e64ab620ff","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 22, Iss 13, p 5016 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/13/5016/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22135016","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 22; Issue 13; Pages: 5016","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9269801","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9269801","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/s22135016","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22135016","pdf_url":"https://www.mdpi.com/1424-8220/22/13/5016/pdf?version=1657179441","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":0.7400000095367432,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G4633028509","display_name":null,"funder_award_id":"2020M683715","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4283805147.pdf"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W2011834931","https://openalex.org/W2052746091","https://openalex.org/W2075531834","https://openalex.org/W2116599690","https://openalex.org/W2135261995","https://openalex.org/W2347476641","https://openalex.org/W2424941784","https://openalex.org/W2463063143","https://openalex.org/W2593729959","https://openalex.org/W2773424079","https://openalex.org/W2911767333","https://openalex.org/W2912040660","https://openalex.org/W2972649301","https://openalex.org/W2996252454","https://openalex.org/W3092455169","https://openalex.org/W3139849202","https://openalex.org/W3196142702","https://openalex.org/W4212992767","https://openalex.org/W4224597156","https://openalex.org/W6622745955"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"In":[0,66],"the":[1,7,22,30,36,39,49,53,81,87,94,100,109,113,117,122,133,154,171,174,180,186,191,196,203,206],"complex":[2],"and":[3,9,19,116,153,177,185],"variable":[4],"marine":[5],"environment,":[6],"navigation":[8],"localization":[10,32,50,83,169,192],"of":[11,33,52,84,112,165,173,190,205,208],"autonomous":[12],"underwater":[13],"vehicles":[14],"(AUVs)":[15],"are":[16],"very":[17],"important":[18],"challenging.":[20],"When":[21,129],"conventional":[23],"Kalman":[24,76,137],"filter":[25,77,138],"(KF)":[26],"is":[27],"applied":[28],"to":[29,108],"cooperative":[31,82,168],"leader-follower":[34,166],"AUVs,":[35],"outliers":[37],"in":[38,62,202],"sensor":[40],"observations":[41],"will":[42],"have":[43],"a":[44,145],"substantial":[45],"adverse":[46],"effect":[47],"on":[48,99,195],"accuracy":[51],"AUVs.":[54],"Meanwhile,":[55],"inaccurate":[56],"noise":[57,156],"covariance":[58,157],"matrices":[59],"may":[60],"result":[61],"significant":[63],"estimation":[64,147],"errors.":[65],"this":[67],"paper,":[68],"we":[69],"proposed":[70],"an":[71],"improved":[72,141,175,197],"Sage-Husa":[73,134],"adaptive":[74,135],"extended":[75,136],"(improved":[78],"SHAEKF)":[79],"for":[80],"multi-AUVs.":[85],"Firstly,":[86],"measurement":[88,127,130,155,209],"anomalies":[89,131],"were":[90,124,199],"evaluated":[91],"by":[92,142],"calculating":[93],"Chi-square":[95,114,118],"test":[96,119],"statistics":[97,120],"based":[98,194],"innovation.":[101],"The":[102,162],"detection":[103],"threshold":[104,123],"was":[105,140,159],"determined":[106],"according":[107],"confidence":[110],"level":[111],"test,":[115],"exceeding":[121],"regarded":[125],"as":[126],"abnormalities.":[128,210],"occurred,":[132],"algorithm":[139],"suboptimal":[143],"maximum":[144],"posterior":[146],"using":[148],"weighted":[149],"exponential":[150],"fading":[151],"memory,":[152],"matrix":[158],"adjusted":[160],"online.":[161],"numerical":[163],"simulation":[164],"multi-AUV":[167],"verified":[170],"effectiveness":[172],"SHAEKF":[176,198],"demonstrated":[178],"that":[179],"average":[181,187],"root":[182],"mean":[183],"square":[184],"standard":[188],"deviation":[189],"errors":[193],"significantly":[200],"reduced":[201],"case":[204],"presence":[207]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}