{"id":"https://openalex.org/W4402516307","doi":"https://doi.org/10.3390/s24185956","title":"A Robust Tri-Electromagnet-Based 6-DoF Pose Tracking System Using an Error-State Kalman Filter","display_name":"A Robust Tri-Electromagnet-Based 6-DoF Pose Tracking System Using an Error-State Kalman Filter","publication_year":2024,"publication_date":"2024-09-13","ids":{"openalex":"https://openalex.org/W4402516307","doi":"https://doi.org/10.3390/s24185956","pmid":"https://pubmed.ncbi.nlm.nih.gov/39338700"},"language":"en","primary_location":{"id":"doi:10.3390/s24185956","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24185956","pdf_url":"https://www.mdpi.com/1424-8220/24/18/5956/pdf?version=1726296695","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/1424-8220/24/18/5956/pdf?version=1726296695","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100582253","display_name":"Shuda Dong","orcid":"https://orcid.org/0009-0005-0175-233X"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuda Dong","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 511442, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 511442, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055704618","display_name":"Heng Wang","orcid":"https://orcid.org/0000-0002-8670-7132"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Heng Wang","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 511442, China"],"raw_orcid":"https://orcid.org/0000-0002-8670-7132","affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 511442, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055704618"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":3.9001,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93875277,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"24","issue":"18","first_page":"5956","last_page":"5956"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9997000098228455,"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":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9937999844551086,"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/kalman-filter","display_name":"Kalman filter","score":0.7897270917892456},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6400170922279358},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5769328474998474},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5263584852218628},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5019433498382568},{"id":"https://openalex.org/keywords/electromagnet","display_name":"Electromagnet","score":0.49985194206237793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45690786838531494},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4238138496875763},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4170876145362854},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4046306014060974},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34928905963897705},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3426406979560852},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33542293310165405},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1286613643169403},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.09311133623123169},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07041612267494202},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.05533549189567566}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7897270917892456},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6400170922279358},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5769328474998474},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5263584852218628},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5019433498382568},{"id":"https://openalex.org/C106997767","wikidata":"https://www.wikidata.org/wiki/Q178032","display_name":"Electromagnet","level":3,"score":0.49985194206237793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45690786838531494},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4238138496875763},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4170876145362854},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4046306014060974},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34928905963897705},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3426406979560852},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33542293310165405},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1286613643169403},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.09311133623123169},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07041612267494202},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.05533549189567566},{"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24185956","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24185956","pdf_url":"https://www.mdpi.com/1424-8220/24/18/5956/pdf?version=1726296695","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:39338700","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39338700","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:11436219","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11436219","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11436219/pdf/sensors-24-05956.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:4fe28bec43d04270975137fd5dc69621","is_oa":true,"landing_page_url":"https://doaj.org/article/4fe28bec43d04270975137fd5dc69621","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 24, Iss 18, p 5956 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24185956","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24185956","pdf_url":"https://www.mdpi.com/1424-8220/24/18/5956/pdf?version=1726296695","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/G5841486852","display_name":null,"funder_award_id":"2023ZYGXZR073","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G602038014","display_name":null,"funder_award_id":"SL2022A04J01440","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8008814476","display_name":null,"funder_award_id":"SL2022A04J01440","funder_id":"https://openalex.org/F4320330743","funder_display_name":"Guangzhou Municipal Science and Technology Bureau"}],"funders":[{"id":"https://openalex.org/F4320323059","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50"},{"id":"https://openalex.org/F4320330743","display_name":"Guangzhou Municipal Science and Technology Bureau","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4402516307.pdf"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1558470758","https://openalex.org/W1968917201","https://openalex.org/W2013002270","https://openalex.org/W2013681472","https://openalex.org/W2013996424","https://openalex.org/W2066876997","https://openalex.org/W2102994281","https://openalex.org/W2161425799","https://openalex.org/W2292347270","https://openalex.org/W2328152871","https://openalex.org/W2344474200","https://openalex.org/W2520777520","https://openalex.org/W2598380386","https://openalex.org/W2762453225","https://openalex.org/W2790374560","https://openalex.org/W2947004800","https://openalex.org/W2957319803","https://openalex.org/W2964102980","https://openalex.org/W2971851026","https://openalex.org/W2979684877","https://openalex.org/W2980790222","https://openalex.org/W2997015845","https://openalex.org/W3006492429","https://openalex.org/W3016203146","https://openalex.org/W3044182567","https://openalex.org/W3083453828","https://openalex.org/W3088412635","https://openalex.org/W3175779901","https://openalex.org/W3191553295","https://openalex.org/W3201487808","https://openalex.org/W3204267514","https://openalex.org/W3211218032","https://openalex.org/W3212340323","https://openalex.org/W4285298129","https://openalex.org/W4312051483","https://openalex.org/W4322505824","https://openalex.org/W4382407435","https://openalex.org/W4390603951","https://openalex.org/W6781240952","https://openalex.org/W6802355845","https://openalex.org/W6803684752"],"related_works":["https://openalex.org/W2362128583","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W2026490863","https://openalex.org/W2389929639","https://openalex.org/W2940856907","https://openalex.org/W2354867839","https://openalex.org/W2529059221","https://openalex.org/W2380496977","https://openalex.org/W2317393884"],"abstract_inverted_index":{"Magnetic":[0],"pose":[1,40,47,92,99,174],"tracking":[2,93,119,175,209,234],"is":[3,35,64,109,152,183,193,236],"a":[4,31,74,82,98,134,207,212],"non-contact,":[5],"accurate,":[6],"and":[7,70,90,115,133,162,167,189,204,219],"occlusion-free":[8],"method":[9],"that":[10,195],"has":[11],"been":[12],"increasingly":[13],"employed":[14],"to":[15,37,111,139,154,171],"track":[16],"intra-corporeal":[17],"medical":[18,25],"devices":[19],"such":[20,50],"as":[21,51,67,73],"endoscopes":[22],"in":[23,60,76],"computer-assisted":[24],"interventions.":[26],"In":[27,45,95],"magnetic":[28,43,130,136,157,164],"pose-tracking":[29],"systems,":[30],"nonlinear":[32],"estimation":[33,48,100],"algorithm":[34,101],"needed":[36],"recover":[38],"the":[39,52,57,61,77,85,104,113,140,156,173,178,196,201,232],"information":[41],"from":[42,159],"measurements.":[44],"existing":[46],"algorithms":[49],"extended":[53],"Kalman":[54,106],"filter":[55,107],"(EKF),":[56],"3-DoF":[58],"orientation":[59,222],"S3":[62],"manifold":[63],"normally":[65],"parametrized":[66],"unit":[68],"quaternions":[69,89],"simply":[71],"treated":[72],"vector":[75],"Euclidean":[78,213],"space,":[79],"which":[80,182],"causes":[81],"violation":[83],"of":[84,88,117,125,148,177,216,225,231],"unity":[86,203],"constraint":[87],"reduces":[91],"accuracy.":[94],"this":[96],"paper,":[97],"based":[102],"on":[103],"error-state":[105],"(ESKF)":[108],"proposed":[110,122,179],"improve":[112],"accuracy":[114],"robustness":[116],"electromagnetic":[118,127,233],"systems.":[120],"The":[121,227],"system":[123,235],"consists":[124],"three":[126],"coils":[128,161],"for":[129,143],"field":[131,144],"generation":[132],"tri-axial":[135],"sensor":[137],"attached":[138],"target":[141],"object":[142],"measurement.":[145],"A":[146],"strategy":[147],"sequential":[149],"coil":[150],"excitation":[151],"developed":[153],"separate":[155],"fields":[158],"different":[160],"reject":[163],"disturbances.":[165],"Simulation":[166],"experiments":[168],"are":[169],"conducted":[170],"evaluate":[172],"performance":[176,230],"ESKF":[180,197],"algorithm,":[181],"also":[184,237],"compared":[185],"with":[186],"standard":[187],"EKF":[188],"constrained":[190],"EKF.":[191],"It":[192],"shown":[194],"can":[198],"effectively":[199],"maintain":[200],"quaternion":[202],"thus":[205],"achieve":[206],"better":[208],"accuracy,":[210],"i.e.,":[211],"position":[214],"error":[215,224],"2.23":[217],"mm":[218],"an":[220],"average":[221],"angle":[223],"0.45\u00b0.":[226],"disturbance":[228],"rejection":[229],"experimentally":[238],"validated.":[239]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}