{"id":"https://openalex.org/W4388540864","doi":"https://doi.org/10.3390/s23229074","title":"Real-Time Optimal States Estimation with Inertial and Delayed Visual Measurements for Unmanned Aerial Vehicles","display_name":"Real-Time Optimal States Estimation with Inertial and Delayed Visual Measurements for Unmanned Aerial Vehicles","publication_year":2023,"publication_date":"2023-11-09","ids":{"openalex":"https://openalex.org/W4388540864","doi":"https://doi.org/10.3390/s23229074","pmid":"https://pubmed.ncbi.nlm.nih.gov/38005461"},"language":"en","primary_location":{"id":"doi:10.3390/s23229074","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23229074","pdf_url":"https://www.mdpi.com/1424-8220/23/22/9074/pdf?version=1699529145","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/1424-8220/23/22/9074/pdf?version=1699529145","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081190076","display_name":"Xinxin Sun","orcid":"https://orcid.org/0000-0002-9963-2109"},"institutions":[{"id":"https://openalex.org/I39774598","display_name":"Hefei University","ror":"https://ror.org/01f5rdf64","country_code":"CN","type":"education","lineage":["https://openalex.org/I39774598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinxin Sun","raw_affiliation_strings":["School of Artificial Intelligence and Big Data, Hefei University, Hefei 230601, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Big Data, Hefei University, Hefei 230601, China","institution_ids":["https://openalex.org/I39774598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102010201","display_name":"Chi Zhang","orcid":"https://orcid.org/0000-0002-0231-2089"},"institutions":[{"id":"https://openalex.org/I39774598","display_name":"Hefei University","ror":"https://ror.org/01f5rdf64","country_code":"CN","type":"education","lineage":["https://openalex.org/I39774598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chi Zhang","raw_affiliation_strings":["School of Artificial Intelligence and Big Data, Hefei University, Hefei 230601, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Big Data, Hefei University, Hefei 230601, China","institution_ids":["https://openalex.org/I39774598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090761389","display_name":"Le Zou","orcid":"https://orcid.org/0000-0001-5718-0813"},"institutions":[{"id":"https://openalex.org/I39774598","display_name":"Hefei University","ror":"https://ror.org/01f5rdf64","country_code":"CN","type":"education","lineage":["https://openalex.org/I39774598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Le Zou","raw_affiliation_strings":["School of Artificial Intelligence and Big Data, Hefei University, Hefei 230601, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Big Data, Hefei University, Hefei 230601, China","institution_ids":["https://openalex.org/I39774598"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070893909","display_name":"Shanhong Li","orcid":null},"institutions":[{"id":"https://openalex.org/I39774598","display_name":"Hefei University","ror":"https://ror.org/01f5rdf64","country_code":"CN","type":"education","lineage":["https://openalex.org/I39774598"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shanhong Li","raw_affiliation_strings":["School of Advanced Manufacturing Engineering, Hefei University, Hefei 230601, China"],"affiliations":[{"raw_affiliation_string":"School of Advanced Manufacturing Engineering, Hefei University, Hefei 230601, China","institution_ids":["https://openalex.org/I39774598"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070893909"],"corresponding_institution_ids":["https://openalex.org/I39774598"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.2101,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.88885671,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"23","issue":"22","first_page":"9074","last_page":"9074"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","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/T10191","display_name":"Robotics and Sensor-Based Localization","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/T10531","display_name":"Advanced Vision and Imaging","score":0.9991000294685364,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9962999820709229,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8262555599212646},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7005006074905396},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.6740611791610718},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6445939540863037},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.616727352142334},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5721055865287781},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5557380318641663},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5541570782661438},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5076664686203003},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5076595544815063},{"id":"https://openalex.org/keywords/units-of-measurement","display_name":"Units of measurement","score":0.4310931861400604},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2356279492378235},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12459558248519897}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8262555599212646},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7005006074905396},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.6740611791610718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6445939540863037},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.616727352142334},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5721055865287781},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5557380318641663},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5541570782661438},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5076664686203003},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5076595544815063},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.4310931861400604},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2356279492378235},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12459558248519897},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s23229074","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23229074","pdf_url":"https://www.mdpi.com/1424-8220/23/22/9074/pdf?version=1699529145","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:38005461","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38005461","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:pubmedcentral.nih.gov:10674770","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10674770","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10674770/pdf/sensors-23-09074.pdf","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"},{"id":"pmh:oai:doaj.org/article:4a73efe7ebab4b51b625bf977e111c73","is_oa":true,"landing_page_url":"https://doaj.org/article/4a73efe7ebab4b51b625bf977e111c73","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 22, p 9074 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23229074","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23229074","pdf_url":"https://www.mdpi.com/1424-8220/23/22/9074/pdf?version=1699529145","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":[{"id":"https://openalex.org/F4320326536","display_name":"Hefei University","ror":"https://ror.org/01f5rdf64"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4388540864.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W201400146","https://openalex.org/W1509766598","https://openalex.org/W1956033670","https://openalex.org/W1960629836","https://openalex.org/W1974535681","https://openalex.org/W1987942271","https://openalex.org/W2069049193","https://openalex.org/W2130813949","https://openalex.org/W2160146213","https://openalex.org/W2162029547","https://openalex.org/W2171258150","https://openalex.org/W2171648046","https://openalex.org/W2278641309","https://openalex.org/W2474281075","https://openalex.org/W2485974694","https://openalex.org/W2559850636","https://openalex.org/W2745859992","https://openalex.org/W2771432945","https://openalex.org/W2955488403","https://openalex.org/W2969719398","https://openalex.org/W3191289571","https://openalex.org/W3202892210","https://openalex.org/W3207673409","https://openalex.org/W4236852650","https://openalex.org/W4285105394","https://openalex.org/W4386032857","https://openalex.org/W6642822174","https://openalex.org/W6730741693"],"related_works":["https://openalex.org/W1967422967","https://openalex.org/W2029881158","https://openalex.org/W3196140453","https://openalex.org/W3044242125","https://openalex.org/W2037990170","https://openalex.org/W2382856674","https://openalex.org/W2768468910","https://openalex.org/W2999148748","https://openalex.org/W2978426962","https://openalex.org/W4206790194"],"abstract_inverted_index":{"Motion":[0],"estimation":[1,122,168],"is":[2,55,76,112],"a":[3,32,102,162],"major":[4],"issue":[5,22],"in":[6,59,86,147],"applications":[7],"of":[8,73,94,99,123,152,170,186],"Unmanned":[9],"Aerial":[10],"Vehicles":[11],"(UAVs).":[12],"This":[13],"paper":[14],"proposes":[15],"an":[16,26],"entire":[17],"solution":[18,36,155],"to":[19,136],"solve":[20],"this":[21,47],"using":[23,158],"information":[24,50,118],"from":[25,65],"Inertial":[27],"Measurement":[28],"Unit":[29],"(IMU)":[30],"and":[31,42,78,96,119],"monocular":[33],"camera.":[34],"The":[35,150,181],"includes":[37],"two":[38],"steps:":[39],"visual":[40,67,100],"location":[41,68,72],"multisensory":[43],"data":[44,87],"fusion.":[45,88],"In":[46],"paper,":[48],"attitude":[49],"provided":[51],"by":[52],"the":[53,71,74,84,90,97,109,117,121,132,138,153,167,177,184,187],"IMU":[54],"used":[56],"as":[57,83,126,128,174,176],"parameters":[58],"Kalman":[60,110],"equations,":[61],"which":[62,114],"are":[63],"different":[64],"pure":[66],"methods.":[69],"Then,":[70],"system":[75],"obtained,":[77],"it":[79,143],"will":[80],"be":[81],"utilized":[82],"observation":[85],"Considering":[89],"multiple":[91],"updating":[92],"frequencies":[93],"sensors":[95],"delay":[98],"observation,":[101],"multi-rate":[103],"delay-compensated":[104],"optimal":[105],"estimator":[106,133],"based":[107],"on":[108,161],"filter":[111],"presented,":[113],"could":[115,144],"fuse":[116],"obtain":[120],"3D":[124],"positions":[125],"well":[127,175],"translational":[129],"speed.":[130],"Additionally,":[131],"was":[134,156],"modified":[135],"minimize":[137],"computational":[139],"burden,":[140],"so":[141],"that":[142],"run":[145],"onboard":[146],"real":[148],"time.":[149],"performance":[151],"overall":[154],"assessed":[157],"field":[159],"experiments":[160],"quadrotor":[163],"system,":[164],"compared":[165],"with":[166],"results":[169,182],"some":[171],"other":[172],"methods":[173],"ground":[178],"truth":[179],"data.":[180],"illustrate":[183],"effectiveness":[185],"proposed":[188],"method.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2025-12-30T23:08:21.542490","created_date":"2025-10-10T00:00:00"}
