{"id":"https://openalex.org/W4390479236","doi":"https://doi.org/10.3390/rs16010181","title":"Intelligent Environment-Adaptive GNSS/INS Integrated Positioning with Factor Graph Optimization","display_name":"Intelligent Environment-Adaptive GNSS/INS Integrated Positioning with Factor Graph Optimization","publication_year":2023,"publication_date":"2023-12-31","ids":{"openalex":"https://openalex.org/W4390479236","doi":"https://doi.org/10.3390/rs16010181"},"language":"en","primary_location":{"id":"doi:10.3390/rs16010181","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16010181","pdf_url":"https://www.mdpi.com/2072-4292/16/1/181/pdf?version=1704035526","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/2072-4292/16/1/181/pdf?version=1704035526","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5107975791","display_name":"Z.F. Li","orcid":"https://orcid.org/0009-0007-7755-8714"},"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":"Zhengdao Li","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075663264","display_name":"Pin-Hsun Lee","orcid":"https://orcid.org/0009-0009-3016-8203"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Pin-Hsun Lee","raw_affiliation_strings":["Department of Electrical and Computer Engineering, McGill University, Montreal, QC H3A 0G4, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, McGill University, Montreal, QC H3A 0G4, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030492411","display_name":"T. Hung","orcid":"https://orcid.org/0000-0002-0142-6746"},"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":"Tsz Hin Marcus Hung","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065739761","display_name":"Guohao Zhang","orcid":"https://orcid.org/0000-0002-4661-9058"},"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":"Guohao Zhang","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044957601","display_name":"Li\u2010Ta Hsu","orcid":"https://orcid.org/0000-0002-0352-741X"},"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":"Li-Ta Hsu","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065739761"],"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":1.4337,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.8226874,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"16","issue":"1","first_page":"181","last_page":"181"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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/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":0.9980000257492065,"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":0.8545176982879639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7306913137435913},{"id":"https://openalex.org/keywords/non-line-of-sight-propagation","display_name":"Non-line-of-sight propagation","score":0.6605509519577026},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5958616733551025},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.5536355972290039},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5312521457672119},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5303871035575867},{"id":"https://openalex.org/keywords/satellite-system","display_name":"Satellite system","score":0.4991645812988281},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4820367097854614},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.41525542736053467},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.29998064041137695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25182557106018066},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1525282859802246},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.13618963956832886},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.09778499603271484},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08087414503097534}],"concepts":[{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.8545176982879639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7306913137435913},{"id":"https://openalex.org/C154910267","wikidata":"https://www.wikidata.org/wiki/Q1740982","display_name":"Non-line-of-sight propagation","level":3,"score":0.6605509519577026},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5958616733551025},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.5536355972290039},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5312521457672119},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5303871035575867},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.4991645812988281},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4820367097854614},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.41525542736053467},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.29998064041137695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25182557106018066},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1525282859802246},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.13618963956832886},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.09778499603271484},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08087414503097534},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs16010181","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16010181","pdf_url":"https://www.mdpi.com/2072-4292/16/1/181/pdf?version=1704035526","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:10397/110117","is_oa":true,"landing_page_url":"http://hdl.handle.net/10397/110117","pdf_url":"http://ira.lib.polyu.edu.hk/bitstream/10397/110117/1/remotesensing-16-00181.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:d315e80bf40d4c83a50a0bcf42da2710","is_oa":true,"landing_page_url":"https://doaj.org/article/d315e80bf40d4c83a50a0bcf42da2710","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 16, Iss 1, p 181 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/rs16010181","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs16010181","pdf_url":"https://www.mdpi.com/2072-4292/16/1/181/pdf?version=1704035526","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":[{"score":0.8100000023841858,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320307285","display_name":"Impact Fund","ror":"https://ror.org/00jb20j87"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390479236.pdf"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W122144693","https://openalex.org/W1836465849","https://openalex.org/W1968315983","https://openalex.org/W1994873458","https://openalex.org/W2001342444","https://openalex.org/W2014207207","https://openalex.org/W2056698770","https://openalex.org/W2071758630","https://openalex.org/W2081940253","https://openalex.org/W2094227853","https://openalex.org/W2131420149","https://openalex.org/W2145237970","https://openalex.org/W2168613353","https://openalex.org/W2537342765","https://openalex.org/W2580246494","https://openalex.org/W2599547390","https://openalex.org/W2770866044","https://openalex.org/W2799980968","https://openalex.org/W2883299834","https://openalex.org/W2889869786","https://openalex.org/W2896556344","https://openalex.org/W2942911839","https://openalex.org/W2959666636","https://openalex.org/W2964479930","https://openalex.org/W3011156601","https://openalex.org/W3025490466","https://openalex.org/W3044216439","https://openalex.org/W3046866375","https://openalex.org/W3081777355","https://openalex.org/W3103406720","https://openalex.org/W3119748581","https://openalex.org/W3138764046","https://openalex.org/W3164521861","https://openalex.org/W3200260092","https://openalex.org/W3205114100","https://openalex.org/W4306950675","https://openalex.org/W4313327241","https://openalex.org/W4315779252","https://openalex.org/W4385075258","https://openalex.org/W4386096415","https://openalex.org/W4386989441","https://openalex.org/W4387908573","https://openalex.org/W4387971800","https://openalex.org/W6604913720","https://openalex.org/W6637677336","https://openalex.org/W6787877308"],"related_works":["https://openalex.org/W3044810324","https://openalex.org/W2900608567","https://openalex.org/W1977989201","https://openalex.org/W2786742173","https://openalex.org/W2770110807","https://openalex.org/W2052432379","https://openalex.org/W3117915744","https://openalex.org/W4384927734","https://openalex.org/W2954228414","https://openalex.org/W768388283"],"abstract_inverted_index":{"Global":[0],"navigation":[1,47],"satellite":[2],"systems":[3,9,48],"(GNSSs)":[4],"applied":[5],"to":[6,21,53,190],"intelligent":[7],"transport":[8],"in":[10,37,74,192],"urban":[11,76],"areas":[12],"suffer":[13],"from":[14,25,159],"multipath":[15],"and":[16,33,45,93,134,152,181,202],"non-line-of-sight":[17],"(NLOS)":[18],"effects":[19],"due":[20],"the":[22,31,41,58,64,70,89,119,129,153,166,171,177,183,193],"signal":[23],"reflections":[24],"high-rise":[26],"buildings,":[27],"which":[28,104],"seriously":[29],"degrade":[30],"accuracy":[32],"reliability":[34,73],"of":[35,63,107,162,195],"vehicles":[36],"real-time":[38],"applications.":[39],"Accordingly,":[40],"integration":[42,66,167],"between":[43],"GNSS":[44,60,72],"inertial":[46],"(INSs)":[49],"could":[50],"be":[51,96],"utilized":[52],"improve":[54],"positioning":[55,179,186],"performance.":[56],"However,":[57],"fixed":[59],"solution":[61],"uncertainty":[62],"conventional":[65],"method":[67],"cannot":[68],"determine":[69],"fluctuating":[71],"fast-changing":[75],"environments.":[77],"This":[78,115],"weakness":[79],"becomes":[80],"solvable":[81],"using":[82,99,157,168],"a":[83,147],"deep":[84],"learning":[85],"model":[86],"for":[87],"sensing":[88],"ambient":[90],"environment":[91],"intelligently,":[92],"it":[94],"can":[95],"further":[97],"mitigated":[98],"factor":[100],"graph":[101],"optimization":[102],"(FGO),":[103],"is":[105,144,155],"capable":[106],"generating":[108],"robust":[109],"solutions":[110],"based":[111],"on":[112,125],"historical":[113],"data.":[114],"paper":[116],"mainly":[117],"develops":[118],"adaptive":[120,135,173],"GNSS/INS":[121],"loosely":[122],"coupled":[123],"system":[124],"FGO,":[126],"along":[127],"with":[128,165],"fixed-gain":[130,169],"Kalman":[131],"filter":[132],"(KF)":[133],"KF":[136],"(AKF)":[137],"being":[138],"taken":[139],"as":[140],"comparisons.":[141],"The":[142],"adaptation":[143],"aided":[145],"by":[146,188],"convolutional":[148],"neural":[149],"network":[150],"(CNN),":[151],"feasibility":[154],"verified":[156],"data":[158],"different":[160],"grades":[161],"receivers.":[163],"Compared":[164],"KF,":[170],"proposed":[172],"FGO":[174],"(AFGO)":[175],"maintains":[176],"100%":[178],"availability":[180],"reduces":[182],"overall":[184],"2D":[185],"error":[187,200],"up":[189],"70%":[191],"aspects":[194],"both":[196],"root":[197],"mean":[198],"square":[199],"(RMSE)":[201],"standard":[203],"deviation":[204],"(STD).":[205]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
