{"id":"https://openalex.org/W3049728568","doi":"https://doi.org/10.1109/tii.2020.3015001","title":"A Novel Heavy-Tailed Mixture Distribution Based Robust Kalman Filter for Cooperative Localization","display_name":"A Novel Heavy-Tailed Mixture Distribution Based Robust Kalman Filter for Cooperative Localization","publication_year":2020,"publication_date":"2020-08-14","ids":{"openalex":"https://openalex.org/W3049728568","doi":"https://doi.org/10.1109/tii.2020.3015001","mag":"3049728568"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2020.3015001","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021719192","display_name":"Mingming Bai","orcid":"https://orcid.org/0000-0002-4790-8791"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingming Bai","raw_affiliation_strings":["College of Intelligent Systems Science, and Engineering, Harbin Engineering University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science, and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091074416","display_name":"Yulong Huang","orcid":"https://orcid.org/0000-0001-9303-9083"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulong Huang","raw_affiliation_strings":["College of Intelligent Systems Science, and Engineering, Harbin Engineering University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science, and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100383751","display_name":"Yonggang Zhang","orcid":"https://orcid.org/0000-0003-4548-1111"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonggang Zhang","raw_affiliation_strings":["College of Intelligent Systems Science, and Engineering, Harbin Engineering University, Harbin, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science, and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100352725","display_name":"Feng Chen","orcid":"https://orcid.org/0000-0002-9054-6570"},"institutions":[{"id":"https://openalex.org/I142108993","display_name":"Southwest University","ror":"https://ror.org/01kj4z117","country_code":"CN","type":"education","lineage":["https://openalex.org/I142108993"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Chen","raw_affiliation_strings":["College of Artificial Intelligence, Southwest University, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"College of Artificial Intelligence, Southwest University, Chongqing, China","institution_ids":["https://openalex.org/I142108993"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.49,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.813407,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"17","issue":"5","first_page":"3671","last_page":"3681"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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":0.999,"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/T11698","display_name":"Underwater Acoustics Research","score":0.9987,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-wishart-distribution","display_name":"Inverse-Wishart distribution","score":0.7275379},{"id":"https://openalex.org/keywords/inverse-gaussian-distribution","display_name":"Inverse Gaussian distribution","score":0.43216097}],"concepts":[{"id":"https://openalex.org/C40851411","wikidata":"https://www.wikidata.org/wiki/Q3258368","display_name":"Inverse-Wishart distribution","level":4,"score":0.7275379},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6961336},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.51123595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49669343},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.49492902},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.46499506},{"id":"https://openalex.org/C197055811","wikidata":"https://www.wikidata.org/wiki/Q207522","display_name":"Probability density function","level":2,"score":0.4544828},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.45213878},{"id":"https://openalex.org/C33962027","wikidata":"https://www.wikidata.org/wiki/Q1930697","display_name":"Wishart distribution","level":3,"score":0.44371367},{"id":"https://openalex.org/C132878287","wikidata":"https://www.wikidata.org/wiki/Q1671727","display_name":"Inverse Gaussian distribution","level":3,"score":0.43216097},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.43192792},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.42882568},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3703497},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.35772878},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3464817},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.26071674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2587547},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1527394},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1515286},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10955766},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08065322},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C161584116","wikidata":"https://www.wikidata.org/wiki/Q1952580","display_name":"Multivariate statistics","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},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2020.3015001","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.87}],"grants":[{"funder":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China","award_id":"61903097"},{"funder":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities","award_id":"3072020CF0404"},{"funder":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities","award_id":"3072020GIP0409"}],"datasets":[],"versions":[],"referenced_works_count":29,"referenced_works":["https://openalex.org/W1603631609","https://openalex.org/W1969142081","https://openalex.org/W2012526720","https://openalex.org/W2016499265","https://openalex.org/W2082452901","https://openalex.org/W2116599690","https://openalex.org/W2164443866","https://openalex.org/W2177415451","https://openalex.org/W2462018873","https://openalex.org/W2483411986","https://openalex.org/W2513248895","https://openalex.org/W2554080489","https://openalex.org/W2575097171","https://openalex.org/W2589658453","https://openalex.org/W2749496335","https://openalex.org/W2759183072","https://openalex.org/W2770978875","https://openalex.org/W2783716124","https://openalex.org/W2790374560","https://openalex.org/W2798839781","https://openalex.org/W2809054032","https://openalex.org/W2942226559","https://openalex.org/W2944846513","https://openalex.org/W2954678237","https://openalex.org/W2963134661","https://openalex.org/W2965584840","https://openalex.org/W2979430851","https://openalex.org/W2981718602","https://openalex.org/W2997297215"],"related_works":["https://openalex.org/W4318566782","https://openalex.org/W3200621812","https://openalex.org/W3145918735","https://openalex.org/W2389605595","https://openalex.org/W2385446126","https://openalex.org/W2189754598","https://openalex.org/W2093973660","https://openalex.org/W2072145805","https://openalex.org/W2007306748","https://openalex.org/W1971850883"],"abstract_inverted_index":{"In":[0],"cooperative":[1,108],"localization":[2,109,126],"for":[3,110],"autonomous":[4],"underwater":[5,30],"vehicles":[6],"(AUVs),":[7],"the":[8,77,114,117],"practical":[9],"stochastic":[10],"noise":[11],"may":[12],"be":[13],"heavy-tailed,":[14],"and":[15,28,48,80,93],"nonstationary":[16],"distributed":[17,60],"because":[18],"of":[19,25],"acoustic":[20,26],"speed":[21],"variation,":[22],"multipath":[23],"effect":[24],"channel,":[27],"changeable":[29],"environment.":[31],"To":[32],"address":[33],"such":[34],"noise,":[35],"a":[36,52,58,66,94,104],"novel":[37,67],"heavy-tailed":[38],"mixture":[39],"(HTM)":[40],"distribution":[41,69],"is":[42,74,101,135],"first":[43],"proposed":[44,99,118],"in":[45,125],"this":[46],"article,":[47],"then":[49],"expressed":[50],"as":[51,89],"hierarchical":[53],"Gaussian":[54],"form":[55],"by":[56,103,123],"employing":[57],"categorical":[59],"auxiliary":[61],"vector.":[62],"Based":[63],"on":[64],"that,":[65],"HTM":[68,91],"based":[70],"robust":[71],"Kalman":[72],"filter":[73,100,119],"proposed,":[75],"where":[76],"one-step":[78],"prediction,":[79],"measurement":[81],"likelihood":[82],"probability":[83],"density":[84],"functions":[85],"are,":[86],"respectively,":[87],"modeled":[88],"an":[90],"distribution,":[92],"Normal-Gamma-inverse":[95],"Wishart":[96],"distribution.":[97],"The":[98],"verified":[102],"lake":[105],"experiment":[106],"about":[107],"AUVs.":[111],"Compared":[112],"with":[113],"cutting-edge":[115],"filter,":[116],"has":[120],"been":[121],"improved":[122],"50.27%":[124],"error":[127],"but":[128],"no":[129],"more":[130],"than":[131],"twice":[132],"computational":[133],"time":[134],"required.":[136]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3049728568","counts_by_year":[{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":7}],"updated_date":"2025-01-07T06:44:03.628762","created_date":"2020-08-21"}