{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T14:53:50Z","timestamp":1740149630364,"version":"3.37.3"},"reference-count":43,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2023,4,1]],"date-time":"2023-04-01T00:00:00Z","timestamp":1680307200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Zhejiang Provincial Natural Science Foundation of China","award":["LY22E050018"]},{"DOI":"10.13039\/501100017577","name":"Basic Public Welfare Research Program of Zhejiang Province","doi-asserted-by":"crossref","award":["LGG22E050019"],"id":[{"id":"10.13039\/501100017577","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["51905483"],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"High\u2212precision and robust localization is critical for intelligent vehicle and transportation systems, while the sensor signal loss or variance could dramatically affect the localization performance. The vehicle localization problem in an environment with Global Navigation Satellite System (GNSS) signal errors is investigated in this study. The error state Kalman filtering (ESKF) and Rauch\u2013Tung\u2013Striebel (RTS) smoother are integrated using the data from Inertial Measurement Unit (IMU) and GNSS sensors. A segmented RTS smoothing algorithm is proposed in order to estimate the error state, which is typically close to zero and mostly linear, which allows more accurate linearization and improved state estimation accuracy. The proposed algorithm is evaluated using simulated GNSS signals with and without signal errors. The simulation results demonstrate its superior accuracy and stability for state estimation. The designed ESKF algorithm yielded an approximate 3% improvement in long straight line and turning scenarios compared to classical EKF algorithm. Additionally, the ESKF\u2212RTS algorithm exhibited a 10% increase in the localization accuracy compared to the ESKF algorithm. In the double turning scenarios, the ESKF algorithm resulted in an improvement of about 50% in comparison to the EKF algorithm, while the ESKF\u2212RTS algorithm improved by about 50% compared to the ESKF algorithm. These results indicated that the proposed ESKF\u2212RTS algorithm is more robust and provides more accurate localization.<\/jats:p>","DOI":"10.3390\/s23073676","type":"journal-article","created":{"date-parts":[[2023,4,3]],"date-time":"2023-04-03T06:32:27Z","timestamp":1680503547000},"page":"3676","source":"Crossref","is-referenced-by-count":21,"title":["Sensor Fusion of GNSS and IMU Data for Robust Localization via Smoothed Error State Kalman Filter"],"prefix":"10.3390","volume":"23","author":[{"given":"Yuming","family":"Yin","sequence":"first","affiliation":[{"name":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China"}]},{"given":"Jinhong","family":"Zhang","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China"}]},{"given":"Mengqi","family":"Guo","sequence":"additional","affiliation":[{"name":"College of Engineering, Beijing Forestry University, Beijing 100083, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7166-1645","authenticated-orcid":false,"given":"Xiaobin","family":"Ning","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China"}]},{"given":"Yuan","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China"}]},{"given":"Jianshan","family":"Lu","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,4,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1007\/s10291-020-01053-3","article-title":"Low-cost GNSS\/INS integration with accurate measurement modeling using an extended state observer","volume":"25","author":"Jiang","year":"2020","journal-title":"GNSS Solut."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"6365","DOI":"10.1109\/TVT.2019.2916852","article-title":"A Fault-Tolerant Tightly Coupled GNSS\/INS\/OVS Integration Vehicle Navigation System Based on an FDP Algorithm","volume":"68","author":"Jiang","year":"2019","journal-title":"IEEE Trans. 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