{"entities":{"Q1666735":{"pageid":1677476,"ns":120,"title":"Item:Q1666735","lastrevid":57502167,"modified":"2026-03-31T04:43:35Z","type":"item","id":"Q1666735","labels":{"en":{"language":"en","value":"An enhanced UWB-based range/GPS cooperative positioning approach using adaptive variational Bayesian cubature Kalman filtering"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6927374"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$A77725B6-E337-4808-81BB-E75EF2051449","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"c8490b8fbf416a4df129ac3882a1ecd8431a2cca","datavalue":{"value":{"text":"An enhanced UWB-based range/GPS cooperative positioning approach using adaptive variational Bayesian cubature Kalman filtering","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1666735$3F931273-4E70-4F56-A7F1-46A11DAB0339","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"a016b70eacb7f65db95efc160dad8a98ca912bb7","datavalue":{"value":"1394.93331","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666735$817EE9C1-DCF3-45C9-8111-D84213EB3F69","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"1b8633d654ca2d3f07e6e06d58d298dd13a493aa","datavalue":{"value":"10.1155/2015/843719","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666735$118DDD3B-E298-4C73-9A64-004159EF64A8","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"7b030fa8ba333ab1cf8afbbb0d2c362f57eca6c3","datavalue":{"value":{"entity-type":"item","numeric-id":1666734,"id":"Q1666734"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$A1EED3AF-90E3-4A8D-98C6-8EBEA9D6DC29","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4e6fda138042c115383d38bc035a464b3edb8ad0","datavalue":{"value":{"entity-type":"item","numeric-id":262587,"id":"Q262587"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$2F22F7E6-8BD7-4AC3-BB7A-38797AD14954","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$A2787DED-A667-462E-AA0F-63B6BEEE0359","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"07d78b2809f727a96c8c6621733f1ab3a1973328","datavalue":{"value":{"time":"+2018-08-27T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1666735$0F6E5605-4529-40E8-8C24-5C3E6F8DCDFD","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"0c22b2ce70195f6f4a0956647c71a49c84ba9b11","datavalue":{"value":"Summary: Precise position awareness is a fundamental requirement for advanced applications of emerging intelligent transportation systems, such as collision warning and speed advisory system. However, the achievable level of positioning accuracy using global navigation satellite systems does not meet the requirements of these applications. Fortunately, cooperative positioning (CP) techniques can improve the performance of positioning in a vehicular ad hoc network (VANET) through sharing the positions between vehicles. In this paper, a novel enhanced CP technique is presented by combining additional range-ultra-wide bandwidth- (UWB-) based measurements. Furthermore, an adaptive variational Bayesian cubature Kalman filtering (AVBCKF) algorithm is proposed and used in the enhanced CP method, which can add robustness to the time-variant measurement noise. Based on analytical and experimental results, the proposed AVBCKF-based CP method outperforms the cubature Kalman filtering- (CKF-) based CP method and extended Kalman filtering- (EKF-) based CP method.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1666735$0AFB8A87-99ED-4A3C-B879-969AC500A5F1","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"19887720c9f9a189dd61bc85aa051ea9f0a2325d","datavalue":{"value":"93E11","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666735$DF92EEC9-5AD9-4628-9D70-E1F205FF5242","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"1dbcc39e7db54992b72601f4375720a2ffab85d3","datavalue":{"value":"6927374","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666735$5EE95529-1950-463C-AC5B-807AC6F37451","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"ebba98cdd5b160f17ce0b1a6515ed1daf75e2753","datavalue":{"value":"Q59119647","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666735$B056C3F1-9112-4235-BCC2-ED65E24A74B2","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$1EB18878-077B-432C-93C1-FA4BF9CDED77","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"b585583d4d33a35f113ce6b0f4a50d736efb65c8","datavalue":{"value":"https://doi.org/10.1155/2015/843719","type":"string"},"datatype":"url"},"type":"statement","id":"Q1666735$91D228D7-4EA0-4DA1-B23B-4112D75429D3","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"72ab432028532d16a4cf0b6009de0b6d918ca6db","datavalue":{"value":"W2031197349","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666735$714A62AC-3EA5-47D4-894E-08B43311B583","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"438d80749348b3e5f11c3a9f51165f570f20aac3","datavalue":{"value":{"entity-type":"item","numeric-id":4974599,"id":"Q4974599"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$22DD4B9B-3DE5-42C6-8C45-91484D374CB7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"60c3cf70638ebb76c4a2f390cece27e0571696d4","datavalue":{"value":{"entity-type":"item","numeric-id":4974494,"id":"Q4974494"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$8AC1781B-D7E0-46BC-A469-2F4E515A478A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"00dc93bf071e7404155cd4bd43064bd87320424e","datavalue":{"value":{"entity-type":"item","numeric-id":4570551,"id":"Q4570551"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$030535AF-C411-4754-AC07-42C6AB345877","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ad7d30efdfd0cdcd201e2ba2cfce237f61418743","datavalue":{"value":{"entity-type":"item","numeric-id":522788,"id":"Q522788"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$A8231C6B-4B8A-47A1-8089-B69893C43FBE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f626cf3f09859dfb0f492c8497bc4e7ccc4c19d3","datavalue":{"value":{"entity-type":"item","numeric-id":5355776,"id":"Q5355776"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$D0FEE66A-4341-40F6-BD5E-1FDFD7205AA7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2ae336322a5f73ab882a45d3f567d0273d1ad12","datavalue":{"value":{"entity-type":"item","numeric-id":1964686,"id":"Q1964686"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$5AB8591A-3911-40F7-B27B-6A67B99CBF0A","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"648bb46043c813786172116dbae6d5eac1456c52","datavalue":{"value":{"entity-type":"item","numeric-id":2042979,"id":"Q2042979"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"be7cea06a7d05817360017ba458d0f82cb4ffcbc","datavalue":{"value":{"amount":"+0.7633377313613892","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1666735$FE86E7D6-4E03-4121-B2AA-A9B659100760","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fe406226a8373a9d375bd9512e9fb56d48f58740","datavalue":{"value":{"entity-type":"item","numeric-id":4584784,"id":"Q4584784"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"24985880e4d9eae1266bd23c54ff570cba3fcc21","datavalue":{"value":{"amount":"+0.7233724594116211","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1666735$307D7C95-E029-4405-B463-A90EF567F1C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b2b9d24f4034717f6f49b7c430524b3d7655aca8","datavalue":{"value":{"entity-type":"item","numeric-id":3426629,"id":"Q3426629"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2ce20422f4e9c981cce1f95b96afa43b1f45f639","datavalue":{"value":{"amount":"+0.7163132429122925","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1666735$2719F480-B133-4531-8261-0EDADD219542","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4b8c79a372dbc3a88ab4ede3a5de6fe1a86d28e6","datavalue":{"value":{"entity-type":"item","numeric-id":2789967,"id":"Q2789967"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3f366930dad7b28620202aa4e19cce8cb22d0792","datavalue":{"value":{"amount":"+0.6865573525428772","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1666735$5B873374-FF0A-4648-B94F-1BA615C742AF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"310d4a9335ce3d6a894bcf12def496ecb00d0f47","datavalue":{"value":{"entity-type":"item","numeric-id":3635930,"id":"Q3635930"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"563ec922ce67c7eb79f4f8a1b53cbbd247f5658c","datavalue":{"value":{"amount":"+0.6812757253646851","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1666735$3010C8C1-AEAE-467A-8C22-DC5818B85097","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"daf5f856a5d861312ad309ab567540337a5f61d6","datavalue":{"value":{"entity-type":"item","numeric-id":57050,"id":"Q57050"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666735$9A35352C-565B-40CB-89B2-547BC5052CAF","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1666735","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1666735"}}}}}