{"entities":{"Q1791123":{"pageid":1801865,"ns":120,"title":"Item:Q1791123","lastrevid":72966093,"modified":"2026-04-14T09:04:27Z","type":"item","id":"Q1791123","labels":{"en":{"language":"en","value":"Optimal position and velocity estimation for multi-USV positioning systems with range measurements"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6946948"}},"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":"Q1791123$49360BF5-8AAB-466E-B34B-F439F0BB34E2","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"05416255d11890985df2267f6ce4614262fadd71","datavalue":{"value":{"text":"Optimal position and velocity estimation for multi-USV positioning systems with range measurements","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1791123$57171A17-2497-4987-91F5-A860E9A4F64D","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"4dfe9e5b8f8efdf828f067ba4d55d9c77610e755","datavalue":{"value":"1398.93321","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1791123$13725592-7D88-42A1-83B9-E4D45C7882F4","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b17e60b930f4f9421e6a8bab6c24b4f34d2d41d9","datavalue":{"value":"10.1155/2018/5452723","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1791123$F170292F-48FC-428F-9FEB-EECBA606A2C3","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"81d2e30a2b8e9fe6a6e3778ab63aedcfb8d76a50","datavalue":{"value":{"entity-type":"item","numeric-id":282124,"id":"Q282124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$F5F6765C-EB79-4ADA-B874-F5CF5842CCD2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"b71aab672f6eaaa5e46cee1306b63b927aad4f8c","datavalue":{"value":{"entity-type":"item","numeric-id":273928,"id":"Q273928"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$941D3C8A-3E14-4247-A391-5E25763CBC65","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"89149f090af5e3d85cddf2f72a61cacde2780660","datavalue":{"value":{"entity-type":"item","numeric-id":1723472,"id":"Q1723472"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$EFEE8702-C8AC-43F5-9139-D81261A9C3AF","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"1dec05d6eca21826ddc25d78a5bfbbb3575f964c","datavalue":{"value":{"entity-type":"item","numeric-id":86231,"id":"Q86231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$D06434B0-6786-4833-8882-6E73CC9159F3","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"ff3c7136492fcf13c84b92efb7ac37b3eed57322","datavalue":{"value":{"time":"+2018-10-04T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1791123$3F04BC11-6311-4D77-9CA0-4E91A81EC5BD","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"334576a4677068c7bb74151288159085bac4291d","datavalue":{"value":"Summary: This paper investigates the problem on simultaneously estimating the velocity and position of the target for range-based multi-USV positioning systems. According to the range measurement and kinematics model of the target, we formulate this problem in a mixed linear/nonlinear discrete-time system. In this system, the input and state represent the velocity and position of the target, respectively. We divide the system into two components and propose a three-step minimum variance unbiased Simultaneous Input and State Estimation (SISE) algorithm. First, we estimate the velocity in the local level plane and predict the corresponding position. Then, we estimate the velocity in the heave direction. Finally, we estimate the 3-dimensional (3D) velocity and position. We establish the unbiased conditions of the input and state estimation for the MLBL system. Simulation results illustrate the effectiveness of the problem formulation and demonstrate the performance of the proposed algorithm.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1791123$7F07367C-9202-4FD1-B771-0E25DAF19F94","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"508f766b7e9c2eeaec5efc12a64dc8db1872dec8","datavalue":{"value":"93E10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1791123$74F41AA7-398C-4F68-8C6E-2F33FFF86E5D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"e3bc6c7cda8279d6ad2b578e7a7e4967447c3cc4","datavalue":{"value":"93E20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1791123$523A69F5-2436-4262-997B-F0D59BA541DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"39a0025ac480893a6c3723330b06364463bbd01f","datavalue":{"value":"93C55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1791123$4FE9852D-C936-4DF0-AC79-BB6441E18326","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9727d9ee90ef6c0f1bdf0ba5bb711e9a6b7cd05","datavalue":{"value":"93C95","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1791123$5144D0E1-F1CA-4A16-A23A-900DC0FEB2CD","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"575d80bb0ca20c0a50e0d82aa0392b55d272d17d","datavalue":{"value":"6946948","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1791123$91D8323E-29DF-4F2D-86A2-D1016E2F9DB0","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c8389734b9b1cf1706fc636ee48196bfce151583","datavalue":{"value":"optimal position","type":"string"},"datatype":"string"},"type":"statement","id":"Q1791123$0E73C6C8-52A7-4D58-990C-91EA3FE3CD3C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9e06ee5a6b1eca420006265a068fc1fe4541c6c0","datavalue":{"value":"velocity estimation","type":"string"},"datatype":"string"},"type":"statement","id":"Q1791123$28BA7718-7A6E-4A5D-9AB7-95F1EA24BDC5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"423bc69a440c8a9c81cff5d1cd89131e1a637cac","datavalue":{"value":"multi-USV positioning systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q1791123$5E0DE39D-E2DB-41A6-88BA-97DEB927EE33","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1b755a6243900a67f03c0da09e1719c68472a2d7","datavalue":{"value":"mixed linear/nonlinear discrete-time system","type":"string"},"datatype":"string"},"type":"statement","id":"Q1791123$2CCEC0E7-C8ED-4341-ABCF-D494CEDCC815","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5e14f65195239a5ef0ac879e8d9f9cce284bac01","datavalue":{"value":"simultaneous input and state estimation (SISE) algorithm","type":"string"},"datatype":"string"},"type":"statement","id":"Q1791123$FC926649-9742-44B0-8302-F5B08C3FBED7","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":"Q1791123$13938338-9230-4165-8E72-880D19ED4016","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"28fddaefb3629218612a82dee3aa2d59cca8ee8a","datavalue":{"value":"https://doi.org/10.1155/2018/5452723","type":"string"},"datatype":"url"},"type":"statement","id":"Q1791123$83A51C9E-3355-4CD4-9A6E-649FA7F74932","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"ec6c048921b40a3e2cd7c78d49ecb5020199167f","datavalue":{"value":"W2881634655","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1791123$01EC3635-D292-4222-A3CF-E55961FF0E48","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"e6e7388efe90d93510854d26e4f59cebcca00170","datavalue":{"value":{"entity-type":"item","numeric-id":856513,"id":"Q856513"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$411B67B5-0A02-4A5F-BD05-11BF56BFE61F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"487ade537e774b350f0d5553b5b6a8c53d8e79ff","datavalue":{"value":{"entity-type":"item","numeric-id":2412491,"id":"Q2412491"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$861A47CB-249D-4335-AB59-614FD22A4209","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0f7711c55a0b2f83340a17611a144c3f67c0478c","datavalue":{"value":{"entity-type":"item","numeric-id":2930789,"id":"Q2930789"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$68C1A283-0C18-4F6D-9271-2DD6C41618AA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dcea987c7ae3f09b881ed905e4dde5e45929ec18","datavalue":{"value":{"entity-type":"item","numeric-id":1092867,"id":"Q1092867"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$7FFA6796-C13D-40A2-A3C4-9A0AF11CA39E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"da7edf720a89bec8112cfd2d757cbd4fc76de6f9","datavalue":{"value":{"entity-type":"item","numeric-id":864295,"id":"Q864295"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$765856E3-1C4C-47AD-B970-1C225403C594","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3024a9c0d839fab4c8cd446fe6ceb9b609e05ff","datavalue":{"value":{"entity-type":"item","numeric-id":883398,"id":"Q883398"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$B7B015A0-FE9C-4BD9-91A5-407140AD57E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ebda2a836f390a00548c135167902bb3ab6692a0","datavalue":{"value":{"entity-type":"item","numeric-id":880380,"id":"Q880380"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$1985A0EE-1077-4467-8ED1-ACCA6CF72E2B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7bbae2b6932b610a432b049a628e2c67432da9f5","datavalue":{"value":{"entity-type":"item","numeric-id":901220,"id":"Q901220"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$AE1AA26B-DAFE-40BB-A339-658A416FC8F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"002709f62b679befa0bf1e2ecaee81a62cdc77df","datavalue":{"value":{"entity-type":"item","numeric-id":2409422,"id":"Q2409422"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$F4825C9B-6FEC-4363-BA9E-67686F03F2AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d93acfd8d431bf7a07e6aaa71abde399c10246db","datavalue":{"value":{"entity-type":"item","numeric-id":3100678,"id":"Q3100678"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$9F5DE528-C305-495C-8221-BCBBBA7C13E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"267beb7955b3bc39663ec9cb231c8dd94d346c6a","datavalue":{"value":{"entity-type":"item","numeric-id":4666962,"id":"Q4666962"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$E8433987-3EC0-4CAA-A1A2-682CF6D7CB2A","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"954fa966bcd7f2ceb66b160bb451f9b124f8f642","datavalue":{"value":{"entity-type":"item","numeric-id":2409137,"id":"Q2409137"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2bcf40fa3fc52b0519f61d542db1020aa3313594","datavalue":{"value":{"amount":"+0.7581548094749451","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":"Q1791123$C90C0E18-54E5-4794-82D5-25F7D1DAB40E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"33a1748fb57f2529a8b4343efa30ec074cabf79d","datavalue":{"value":{"entity-type":"item","numeric-id":983223,"id":"Q983223"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c8b3342ba3bf127ee0906a93c9deb01c401b49b2","datavalue":{"value":{"amount":"+0.7457493543624878","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1791123$EAB8ED56-892D-4D89-B699-47FF41F01855","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1ed27d4dcde089067bc3de92ff6b3123db22b83e","datavalue":{"value":{"entity-type":"item","numeric-id":6177715,"id":"Q6177715"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e691cab5f39d2b311e657e785f2f791071478e9f","datavalue":{"value":{"amount":"+0.733760416507721","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":"Q1791123$0CF35D04-8AF0-4113-9D41-4E454DAE3C4E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"017a799ca37955c6af9eb5e3506e4d5ec97cd35a","datavalue":{"value":{"entity-type":"item","numeric-id":2796919,"id":"Q2796919"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1ec3e0dadfae2825b750ea7592db86c24b21e6b1","datavalue":{"value":{"amount":"+0.7282387614250183","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1791123$EDBC53B7-312D-4E32-A9C5-18C153B9BBC4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c75e76f37b0efc634e759dda6b0c21bf10b047af","datavalue":{"value":{"entity-type":"item","numeric-id":3526810,"id":"Q3526810"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"df715b457cd1deba6f0b6dae1fe5dbf851ad6b8a","datavalue":{"value":{"amount":"+0.721566379070282","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":"Q1791123$262A20B8-F588-4464-BAA9-E7335B1BCD0F","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1791123$A53BAF78-523B-4342-959D-D7DA1DA5651D","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Optimal position and velocity estimation for multi-USV positioning systems with range measurements","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Optimal_position_and_velocity_estimation_for_multi-USV_positioning_systems_with_range_measurements"}}}}}