{"id":"https://openalex.org/W4400724738","doi":"https://doi.org/10.3390/s24144623","title":"Robust Attitude Estimation for Low-Dynamic Vehicles Based on MEMS-IMU and External Acceleration Compensation","display_name":"Robust Attitude Estimation for Low-Dynamic Vehicles Based on MEMS-IMU and External Acceleration Compensation","publication_year":2024,"publication_date":"2024-07-17","ids":{"openalex":"https://openalex.org/W4400724738","doi":"https://doi.org/10.3390/s24144623","pmid":"https://pubmed.ncbi.nlm.nih.gov/39066020"},"language":"en","primary_location":{"id":"doi:10.3390/s24144623","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24144623","pdf_url":null,"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://doi.org/10.3390/s24144623","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100736959","display_name":"Jiaxuan Chen","orcid":"https://orcid.org/0000-0002-3296-8054"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaxuan Chen","raw_affiliation_strings":["Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China","School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]},{"raw_affiliation_string":"School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065844829","display_name":"Bingbo Cui","orcid":"https://orcid.org/0000-0001-7436-7663"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bingbo Cui","raw_affiliation_strings":["Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China","School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":"https://orcid.org/0000-0001-7436-7663","affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]},{"raw_affiliation_string":"School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002864328","display_name":"Xinhua Wei","orcid":"https://orcid.org/0000-0002-6801-4826"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinhua Wei","raw_affiliation_strings":["Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China","School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]},{"raw_affiliation_string":"School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015202514","display_name":"Yongyun Zhu","orcid":"https://orcid.org/0000-0002-3059-9232"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongyun Zhu","raw_affiliation_strings":["Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China","School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]},{"raw_affiliation_string":"School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103007893","display_name":"Zeyu Sun","orcid":"https://orcid.org/0000-0003-3465-4144"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyu Sun","raw_affiliation_strings":["Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China","School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Modern Agricultural Equipment and Technology, Jiangsu University, Ministry of Education, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]},{"raw_affiliation_string":"School of Agriculture Engineering, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100405027","display_name":"Yufei Liu","orcid":"https://orcid.org/0000-0001-7027-8911"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufei Liu","raw_affiliation_strings":["College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China"],"raw_orcid":"https://orcid.org/0000-0001-7027-8911","affiliations":[{"raw_affiliation_string":"College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5065844829"],"corresponding_institution_ids":["https://openalex.org/I115592961"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":15.6117,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.98542807,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"24","issue":"14","first_page":"4623","last_page":"4623"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9919000267982483,"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":0.9839000105857849,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7809417247772217},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.7245020866394043},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6298753023147583},{"id":"https://openalex.org/keywords/tractor","display_name":"Tractor","score":0.6187124848365784},{"id":"https://openalex.org/keywords/gravitational-acceleration","display_name":"Gravitational acceleration","score":0.5968196392059326},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5619295239448547},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.5548520684242249},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5432153940200806},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.44439029693603516},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42300617694854736},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.351302832365036},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2105482518672943},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.19018730521202087},{"id":"https://openalex.org/keywords/gravitational-field","display_name":"Gravitational field","score":0.16158944368362427},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14227283000946045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12563824653625488},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10099399089813232}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7809417247772217},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.7245020866394043},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6298753023147583},{"id":"https://openalex.org/C2780427559","wikidata":"https://www.wikidata.org/wiki/Q39495","display_name":"Tractor","level":2,"score":0.6187124848365784},{"id":"https://openalex.org/C71976986","wikidata":"https://www.wikidata.org/wiki/Q30006","display_name":"Gravitational acceleration","level":3,"score":0.5968196392059326},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5619295239448547},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.5548520684242249},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5432153940200806},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.44439029693603516},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42300617694854736},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.351302832365036},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2105482518672943},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.19018730521202087},{"id":"https://openalex.org/C14257148","wikidata":"https://www.wikidata.org/wiki/Q558066","display_name":"Gravitational field","level":2,"score":0.16158944368362427},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14227283000946045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12563824653625488},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10099399089813232},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24144623","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24144623","pdf_url":null,"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:39066020","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39066020","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:11280949","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11280949","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11280949/pdf/sensors-24-04623.pdf","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:898ce2c3adf24541b6a600d932d4d0c3","is_oa":false,"landing_page_url":"https://doaj.org/article/898ce2c3adf24541b6a600d932d4d0c3","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 14, p 4623 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24144623","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24144623","pdf_url":null,"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":[{"id":"https://openalex.org/G258314015","display_name":null,"funder_award_id":"MAET202301","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2821695564","display_name":null,"funder_award_id":"SNY202303","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3604303161","display_name":null,"funder_award_id":"YF20220801","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5889856632","display_name":null,"funder_award_id":"32271999","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6279770189","display_name":null,"funder_award_id":"XTCX2009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6474823327","display_name":null,"funder_award_id":"BE2021313","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321410","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30"},{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1985853728","https://openalex.org/W1992911010","https://openalex.org/W2125691646","https://openalex.org/W2160146756","https://openalex.org/W2610521751","https://openalex.org/W2901806907","https://openalex.org/W2944116957","https://openalex.org/W3004149572","https://openalex.org/W3011099149","https://openalex.org/W3043263452","https://openalex.org/W3045397775","https://openalex.org/W3081802336","https://openalex.org/W3095106415","https://openalex.org/W3109663887","https://openalex.org/W3126610802","https://openalex.org/W3159545171","https://openalex.org/W3177446257","https://openalex.org/W3190875045","https://openalex.org/W4200230220","https://openalex.org/W4225273181","https://openalex.org/W4296873425","https://openalex.org/W4309278699","https://openalex.org/W4309535518","https://openalex.org/W4312805709","https://openalex.org/W4321436351","https://openalex.org/W4322502558","https://openalex.org/W4385575058","https://openalex.org/W4386250812","https://openalex.org/W4386890949","https://openalex.org/W4388070381","https://openalex.org/W4388969369","https://openalex.org/W4389722408","https://openalex.org/W6683445224","https://openalex.org/W7008996909"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W2992410632","https://openalex.org/W2025756212","https://openalex.org/W2922015049","https://openalex.org/W1985942433","https://openalex.org/W2059495604","https://openalex.org/W2046521884","https://openalex.org/W2941671187","https://openalex.org/W3009590127","https://openalex.org/W4252716616"],"abstract_inverted_index":{"Attitude":[0],"determination":[1],"based":[2,99],"on":[3,25,100],"a":[4,22,45,84,131,138,170,217],"micro-electro-mechanical":[5],"system":[6],"inertial":[7],"measurement":[8],"unit":[9],"(MEMS-IMU)":[10],"has":[11],"attracted":[12],"extensive":[13],"attention.":[14],"The":[15,73,121,142,176,224],"non-gravitational":[16],"components":[17],"of":[18,28,36,70,92,103,123,150,157,165,180,207,232,249,255,264],"the":[19,26,33,58,67,71,90,108,124,147,151,181,186,193,196,205,222,230,240,245,253,256,260],"MEMS-IMU":[20,77],"have":[21],"significant":[23],"effect":[24],"accuracy":[27],"attitude":[29,34,78,178,219,266],"estimation.":[30,267],"To":[31],"improve":[32],"estimation":[35,79,179],"low-dynamic":[37],"vehicles":[38],"under":[39],"uneven":[40],"soil":[41],"conditions":[42],"or":[43],"vibrations,":[44],"robust":[46],"Kalman":[47],"filter":[48],"(RKF)":[49],"was":[50,61,80,96,111,126,153,209,235],"developed":[51],"and":[52,117,137,167,173,215],"tested":[53],"in":[54,115,155,258],"this":[55],"paper,":[56],"where":[57,107],"noise":[59],"covariance":[60],"adaptively":[62],"changed":[63],"to":[64,213,221,242],"compensate":[65],"for":[66,76],"external":[68,94,261],"acceleration":[69,95,109,262],"vehicle.":[72],"state":[74],"model":[75],"initially":[81],"constructed":[82],"using":[83,130],"simplified":[85],"direction":[86],"cosine":[87],"matrix.":[88],"Subsequently,":[89],"variance":[91],"unmodeled":[93],"estimated":[97],"online":[98],"filtering":[101],"innovations":[102],"different":[104,203],"window":[105],"lengths,":[106],"disturbance":[110],"addressed":[112],"by":[113],"tradeoffs":[114],"time-delay":[116],"prescribed":[118],"computation":[119],"cost.":[120],"effectiveness":[122],"RKF":[125,152,187,257],"validated":[127],"through":[128],"experiments":[129],"three-axis":[132],"turntable,":[133],"an":[134,247],"automatic":[135,182],"vehicle,":[136],"tractor":[139,225],"tillage":[140,226],"test.":[141],"turntable":[143],"experiment":[144],"demonstrated":[145],"that":[146,185,229],"angle":[148],"result":[149],"0.051\u00b0":[154],"terms":[156],"root":[158],"mean":[159],"square":[160],"error":[161],"(RMSE),":[162],"showing":[163],"improvements":[164],"65.5%":[166],"29.2%":[168],"over":[169,199],"conventional":[171],"KF":[172,194,241],"MTi-300,":[174],"respectively.":[175],"dynamic":[177],"vehicle":[183,197],"showed":[184],"achieves":[188],"smoother":[189],"pitch":[190,208,234],"angles":[191],"than":[192],"when":[195],"passes":[198],"speed":[200],"bumps":[201],"at":[202],"speeds;":[204],"RMSE":[206,231],"reduced":[210],"from":[211,237],"0.875\u00b0":[212],"0.460\u00b0":[214],"presented":[216],"similar":[218],"trend":[220],"MTi-300.":[223],"test":[227],"indicated":[228],"plough":[233],"improved":[236],"0.493\u00b0":[238],"with":[239,244],"0.259\u00b0":[243],"RKF,":[246],"enhancement":[248],"approximately":[250],"47.5%,":[251],"illustrating":[252],"superiority":[254],"suppressing":[259],"disturbances":[263],"IMU-based":[265]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3}],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2025-10-10T00:00:00"}