{"id":"https://openalex.org/W4386849917","doi":"https://doi.org/10.3390/rs15184591","title":"Observability-Constrained Resampling-Free Cubature Kalman Filter for GNSS/INS with Measurement Outliers","display_name":"Observability-Constrained Resampling-Free Cubature Kalman Filter for GNSS/INS with Measurement Outliers","publication_year":2023,"publication_date":"2023-09-18","ids":{"openalex":"https://openalex.org/W4386849917","doi":"https://doi.org/10.3390/rs15184591"},"language":"en","primary_location":{"id":"doi:10.3390/rs15184591","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15184591","pdf_url":"https://www.mdpi.com/2072-4292/15/18/4591/pdf?version=1695045875","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/15/18/4591/pdf?version=1695045875","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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":false,"raw_author_name":"Bingbo Cui","raw_affiliation_strings":["School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China"],"affiliations":[{"raw_affiliation_string":"School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100329153","display_name":"Wu Chen","orcid":"https://orcid.org/0000-0002-1787-5191"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wu Chen","raw_affiliation_strings":["Department of Land Surveying and Geo-Informatics, The Hong Kong Polytechnic University, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo-Informatics, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074114111","display_name":"Duojie Weng","orcid":"https://orcid.org/0000-0002-5531-4360"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Duojie Weng","raw_affiliation_strings":["Department of Land Surveying and Geo-Informatics, The Hong Kong Polytechnic University, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Land Surveying and Geo-Informatics, The Hong Kong Polytechnic University, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067078001","display_name":"Xinhua Wei","orcid":"https://orcid.org/0000-0001-6307-7521"},"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":["School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China"],"affiliations":[{"raw_affiliation_string":"School of Agricultural 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"]},{"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":"Zeyu Sun","raw_affiliation_strings":["College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China","School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China"],"affiliations":[{"raw_affiliation_string":"College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 310058, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"School of Agricultural Engineering, Jiangsu University, Zhenjiang 212013, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056125568","display_name":"Yan Zhao","orcid":"https://orcid.org/0000-0001-7776-2415"},"institutions":[{"id":"https://openalex.org/I102208913","display_name":"Shihezi University","ror":"https://ror.org/04x0kvm78","country_code":"CN","type":"education","lineage":["https://openalex.org/I102208913"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Zhao","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China","institution_ids":["https://openalex.org/I102208913"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100405027","display_name":"Yufei Liu","orcid":null},"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"],"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":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5074114111"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":4.1163,"has_fulltext":true,"cited_by_count":24,"citation_normalized_percentile":{"value":0.9517944,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"15","issue":"18","first_page":"4591","last_page":"4591"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9995999932289124,"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/T10655","display_name":"GNSS positioning and interference","score":0.9988999962806702,"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/gnss-applications","display_name":"GNSS applications","score":0.6816242933273315},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.6779428720474243},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6351176500320435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6091727018356323},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.5746992230415344},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.4841761887073517},{"id":"https://openalex.org/keywords/resampling","display_name":"Resampling","score":0.43685874342918396},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4295422434806824},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37431415915489197},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30533555150032043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2335503101348877},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.21082037687301636},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.2041895091533661},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07681190967559814}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6816242933273315},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.6779428720474243},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6351176500320435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6091727018356323},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.5746992230415344},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.4841761887073517},{"id":"https://openalex.org/C150921843","wikidata":"https://www.wikidata.org/wiki/Q1170431","display_name":"Resampling","level":2,"score":0.43685874342918396},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4295422434806824},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37431415915489197},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30533555150032043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2335503101348877},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.21082037687301636},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.2041895091533661},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07681190967559814},{"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs15184591","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15184591","pdf_url":"https://www.mdpi.com/2072-4292/15/18/4591/pdf?version=1695045875","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:ira.lib.polyu.edu.hk:10397/108774","is_oa":true,"landing_page_url":"http://hdl.handle.net/10397/108774","pdf_url":"http://ira.lib.polyu.edu.hk/bitstream/10397/108774/1/remotesensing-15-04591.pdf","source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"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":null,"raw_type":"Journal/Magazine Article"},{"id":"pmh:oai:doaj.org/article:b5b659685f43468e9c6838b85864ae67","is_oa":true,"landing_page_url":"https://doaj.org/article/b5b659685f43468e9c6838b85864ae67","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":"Remote Sensing, Vol 15, Iss 18, p 4591 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/rs15184591","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15184591","pdf_url":"https://www.mdpi.com/2072-4292/15/18/4591/pdf?version=1695045875","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"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":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1524873982","display_name":null,"funder_award_id":"2022ZJUGP002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5489868538","display_name":null,"funder_award_id":"R5009-21","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/G5994120800","display_name":null,"funder_award_id":"Natural","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"},{"id":"https://openalex.org/G7033253288","display_name":null,"funder_award_id":"Grants","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320307285","display_name":"Impact Fund","ror":"https://ror.org/00jb20j87"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386849917.pdf","grobid_xml":"https://content.openalex.org/works/W4386849917.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1998727970","https://openalex.org/W2030793712","https://openalex.org/W2054091988","https://openalex.org/W2095376999","https://openalex.org/W2099371695","https://openalex.org/W2105934661","https://openalex.org/W2121990344","https://openalex.org/W2139251171","https://openalex.org/W2143388911","https://openalex.org/W2148061324","https://openalex.org/W2157907881","https://openalex.org/W2160337655","https://openalex.org/W2200680720","https://openalex.org/W2517464434","https://openalex.org/W2523351019","https://openalex.org/W2592189561","https://openalex.org/W2737188128","https://openalex.org/W2792553889","https://openalex.org/W2810968776","https://openalex.org/W2887157337","https://openalex.org/W2900166496","https://openalex.org/W2944846513","https://openalex.org/W2963134661","https://openalex.org/W2968125992","https://openalex.org/W2978518531","https://openalex.org/W3028803129","https://openalex.org/W3047395687","https://openalex.org/W3049108310","https://openalex.org/W3086355029","https://openalex.org/W3110740850","https://openalex.org/W3133243397","https://openalex.org/W3177059595","https://openalex.org/W3210319947","https://openalex.org/W4212797613","https://openalex.org/W4214605898","https://openalex.org/W4282007019","https://openalex.org/W4285142965","https://openalex.org/W4296873425","https://openalex.org/W4327663288"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2765830098","https://openalex.org/W2967463586","https://openalex.org/W2074679142","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W3157641275","https://openalex.org/W4312300846","https://openalex.org/W2104042711","https://openalex.org/W4206221578"],"abstract_inverted_index":{"Integrating":[0],"global":[1],"navigation":[2,8],"satellite":[3],"systems":[4,9],"(GNSSs)":[5],"with":[6,175],"inertial":[7],"(INSs)":[10],"has":[11,45],"been":[12,46],"widely":[13],"recognized":[14],"as":[15],"an":[16,58],"ideal":[17],"solution":[18],"for":[19,250],"autonomous":[20],"vehicle":[21],"navigation.":[22],"However,":[23],"GNSSs":[24],"suffer":[25],"from":[26,224],"disturbances":[27],"and":[28,119,158,173,193,213,226,231,243],"signal":[29],"blocking":[30],"inevitably,":[31],"making":[32,247],"the":[33,39,49,70,78,82,101,117,122,124,137,162,170,176,188,191,197,201,204,210,220,240,251],"performance":[34],"of":[35,41,73,95,121,164,190,206,219,254],"GNSS/INSs":[36,183,255],"degraded":[37],"in":[38,61,69,109,203,256],"occurrence":[40,163],"measurement":[42,139,154,165,207,241],"outliers.":[43],"It":[44],"proven":[47],"that":[48,196],"sigma":[50,79,84],"points-based":[51],"Kalman":[52,104],"filter":[53,105],"(KF)":[54],"performs":[55],"better":[56],"than":[57],"extended":[59],"KF":[60],"cases":[62],"where":[63,161,209],"large":[64],"prior":[65],"uncertainty":[66],"is":[67,149,167,237],"present":[68],"state":[71,177],"estimation":[72,157],"a":[74,144],"GNSS/INS.":[75],"By":[76],"modifying":[77],"points":[80],"directly,":[81],"resampling-free":[83,102,125],"point":[85],"update":[86],"framework":[87],"(SUF)":[88],"propagates":[89],"more":[90],"information":[91],"excepting":[92],"Gaussian":[93],"moments":[94],"prescribed":[96],"accuracy,":[97],"based":[98,151,180],"on":[99,128,152,181],"which":[100],"cubature":[103],"(RCKF)":[106],"was":[107],"developed":[108],"our":[110],"previous":[111],"work.":[112],"In":[113,141],"order":[114],"to":[115,186,229],"enhance":[116],"adaptivity":[118],"robustness":[120],"RCKF,":[123],"SUF":[126],"depending":[127],"dynamic":[129],"prediction":[130],"residue":[131],"should":[132],"be":[133],"improved":[134],"by":[135,169],"suppressing":[136],"time-varying":[138,244],"outlier.":[140],"this":[142],"paper,":[143],"robust":[145,238],"observability-constrained":[146],"RCKF":[147,202],"(ROCRCKF)":[148],"proposed":[150,198],"adaptive":[153],"noise":[155],"covariance":[156],"outlier":[159],"detection,":[160],"outliers":[166,242],"modelled":[168],"Bernoulli":[171],"variable":[172],"estimated":[174],"simultaneously.":[178],"Experiments":[179],"car-mounted":[182],"are":[184,222],"performed":[185],"verify":[187],"effectiveness":[189],"ROCRCKF,":[192],"result":[194],"indicates":[195],"algorithm":[199],"outperforms":[200],"presence":[205],"outliers,":[208],"heading":[211],"error":[212,218],"average":[214],"root":[215],"mean":[216],"square":[217],"position":[221],"reduced":[223],"1.96\u00b0":[225],"6.38":[227],"m":[228],"0.27\u00b0":[230],"5.95":[232],"m,":[233],"respectively.":[234],"The":[235],"ROCRCKF":[236],"against":[239],"model":[245],"uncertainty,":[246],"it":[248],"suitable":[249],"real-time":[252],"implementation":[253],"GNSS-challenged":[257],"environments.":[258]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":9}],"updated_date":"2026-04-19T08:26:33.389920","created_date":"2025-10-10T00:00:00"}