{"entities":{"Q1992914":{"pageid":2003656,"ns":120,"title":"Item:Q1992914","lastrevid":57250569,"modified":"2026-03-27T15:53:23Z","type":"item","id":"Q1992914","labels":{"en":{"language":"en","value":"Novel SINS initial alignment method under large misalignment angles and uncertain noise based on nonlinear filter"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6972267"}},"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":"Q1992914$A5511158-3FD3-41D5-B463-075200F59EB1","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"a6d375c9dea6186720349ec9434db76640d9ce1f","datavalue":{"value":{"text":"Novel SINS initial alignment method under large misalignment angles and uncertain noise based on nonlinear filter","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1992914$A81C310D-56D8-4297-AC81-51D25CF96119","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"a4776c70a237b87a21bbb80257f2c740430c1092","datavalue":{"value":"1426.93344","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1992914$17B8507C-92BC-4ED2-BCC3-D18036FAD3A9","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"4539665a291ef6131a42c7536fb12e6096d01448","datavalue":{"value":"10.1155/2017/5917917","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1992914$FB46B946-3C9F-4F5B-8448-F623EAC9A022","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"efc53b94713933eb0f77b5e6dbd878e1d13eb86c","datavalue":{"value":{"entity-type":"item","numeric-id":278683,"id":"Q278683"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$90DA86C1-64A5-471D-89BF-4A129B57E063","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"9297e4e86ca828123d08b827d8adfaeec7599f91","datavalue":{"value":{"entity-type":"item","numeric-id":1717986,"id":"Q1717986"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$FDF0FD99-88EC-469A-A981-3598BCBC1D3E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"0dbe5413b03e3b48a22c4639040ad743174c4edb","datavalue":{"value":{"entity-type":"item","numeric-id":241114,"id":"Q241114"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$71F3C895-F4BC-448E-8465-6D3D032F2372","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"a9a44ec63a167e6c96f2a6ef48440c084388d3da","datavalue":{"value":{"entity-type":"item","numeric-id":820343,"id":"Q820343"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$57D241C0-0CD1-463C-A1C8-3D19FF09D202","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"05bce1162bdba092b25d2b6a5521739f6879fef5","datavalue":{"value":{"entity-type":"item","numeric-id":854191,"id":"Q854191"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$DF4FCA73-A634-4836-9B90-36DDA2229B12","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":"Q1992914$1229C94A-098D-464F-8620-FEF8D3A54B12","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"aa52e5275a0a48fdb54409ff403b7de34344c3c7","datavalue":{"value":{"time":"+2018-11-05T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1992914$8D200EE0-E0CF-43C0-9523-9CA6D371EF6C","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"40ca18cdb93a836d28d85393da4767d027e1f87d","datavalue":{"value":"Summary: For the SINS initial alignment problem under large misalignment angles and uncertain noise, two novel nonlinear filters, referred to as transformed unscented quadrature Kalman filter (TUQKF) and robust transformed unscented quadrature Kalman filter (RTUQKF), are proposed in this paper, respectively. The TUQKF sets new deterministic sigma points to address the nonlocal sampling problem and improve the numerical accuracy. The RTUQKF is the combination of \\(H_\\infty\\) technique and TUQKF. It improves the accuracy and robustness of state estimation. Simulation results indicate that TUQKF performs better than traditional filters when misalignment angles are large. Turntable and vehicle experiments results indicate that, under the condition of uncertain noise, the performances of RTUQKF are better than other filters and more robust. These two methods can effectively further increase precision and convergence speed of SINS initial alignment.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1992914$1A28A7B5-352A-4C1C-AEB1-EC0C17F30F0B","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"19887720c9f9a189dd61bc85aa051ea9f0a2325d","datavalue":{"value":"93E11","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1992914$6812F9A3-DA71-476F-B8B3-5E4F9BEB140C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"8d3c102b5b56d5cea4c8f850db3444fbb0a19fba","datavalue":{"value":"60G35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1992914$6FEA69F1-8A74-47A9-A93A-6F419A9E790D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"508f766b7e9c2eeaec5efc12a64dc8db1872dec8","datavalue":{"value":"93E10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1992914$7FFF2FDE-D5E2-4150-9251-C34129016357","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"17e2d94629712bf274502e587e3fb0368a0f5a47","datavalue":{"value":"6972267","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1992914$E0E2BE45-DCAC-4A6D-8739-359096759FDA","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"2e3562850df15143c5eafa94e22bfeb9e407974c","datavalue":{"value":"Q59147647","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1992914$B2851A77-C615-4C93-B610-04D80728106B","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":"Q1992914$21907826-4D50-4CB1-9243-0059C8665634","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"5f26cd238ae5da1e651826c0cb9c4a01cff1ee5a","datavalue":{"value":"https://doi.org/10.1155/2017/5917917","type":"string"},"datatype":"url"},"type":"statement","id":"Q1992914$DA51AD6E-F463-4808-BC11-3379F590C80A","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"f6e3f868cdf6945abd8072cfc06bfdff30346a09","datavalue":{"value":"W2588854833","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1992914$83810ED0-CA14-4C38-A733-582E829484AA","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"e60da60495ea1cafdfc6347cffcf25fac252a3ab","datavalue":{"value":{"entity-type":"item","numeric-id":4507075,"id":"Q4507075"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$6C5BB4BB-99BE-4345-833C-836D719782B1","rank":"normal"},{"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":"Q1992914$83082C22-0671-415D-A968-0EFE93EADFD2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ec8e791cd8b0dc329e379356adf520f42c510f19","datavalue":{"value":{"entity-type":"item","numeric-id":5353099,"id":"Q5353099"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$FFECF73E-0C14-4BF5-BE88-D180E68F8825","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4faa8e1db3a044294fd89b6b002074c92bf74cfa","datavalue":{"value":{"entity-type":"item","numeric-id":5494494,"id":"Q5494494"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$E0533305-0A70-4888-9E4E-58823E247B46","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7e7dde16ea31cf38e338488a3072bb51f330063b","datavalue":{"value":{"entity-type":"item","numeric-id":2732865,"id":"Q2732865"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$DAE0B4F4-5173-4A15-B93B-E61C7CCF395A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5ceb0d041fce624db13b3b2caac275e7da7ad285","datavalue":{"value":{"entity-type":"item","numeric-id":4507140,"id":"Q4507140"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$DBDE168F-24D4-4849-8E65-BA1BE50BE47A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4005cfaff2d5288711a6147202c64eff217e5bbe","datavalue":{"value":{"entity-type":"item","numeric-id":1941255,"id":"Q1941255"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$15E888A4-9223-49A4-8F75-9E2C5F733228","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"05e46d1ab40f6d27eaecb8919c146eb1bebb32bc","datavalue":{"value":{"entity-type":"item","numeric-id":4540423,"id":"Q4540423"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$65E838A4-D3C1-4A5C-85BE-6DD84078AEF0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5a914e6caa08c186a707a9e3c70add3a6e365c94","datavalue":{"value":{"entity-type":"item","numeric-id":4220548,"id":"Q4220548"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$49F8292C-93B4-4E7A-849B-C229630D1ECE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"793a3b32b2601c39895c5d750e0de34f9c460045","datavalue":{"value":{"entity-type":"item","numeric-id":1957940,"id":"Q1957940"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$F8183310-08B4-4AFD-94A3-8E0BF80DF44A","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e7a914f818ca28a13af38ecfc670d7608b885615","datavalue":{"value":{"entity-type":"item","numeric-id":4905770,"id":"Q4905770"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cae2b5ca3b9ba8d81fd334976fa6e9655fe1edce","datavalue":{"value":{"amount":"+0.8338978290557861","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":"Q1992914$6BC6D9B4-DC0E-478D-A52D-07331837D0F7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3e3266af391907738ee23ba33584ed7a2f577ed1","datavalue":{"value":{"entity-type":"item","numeric-id":3089926,"id":"Q3089926"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"55052196f8718e5fdedb6b9207808311d4796a07","datavalue":{"value":{"amount":"+0.8036718368530273","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1992914$BF7D7320-C310-4C4C-B5C6-5F058E9E7EAE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3d75047405b0e4b0d0130b82dbc5ae8ac351315b","datavalue":{"value":{"entity-type":"item","numeric-id":1665364,"id":"Q1665364"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0f4996e15b8ff48d2ccc7cc83903bc1a13671b31","datavalue":{"value":{"amount":"+0.7991134524345398","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":"Q1992914$09988C00-2157-4FC1-A78D-32A59FE38429","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5c0fe11769a1ee55186651eac0f40b4197d890de","datavalue":{"value":{"entity-type":"item","numeric-id":5851253,"id":"Q5851253"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ce1c59a3fbe77468159f73223862bea065d557c3","datavalue":{"value":{"amount":"+0.7764131426811218","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1992914$A05AE0B1-C457-413B-BAE4-80A66B6EDCB4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2bcadd9b4884b30b4330c319f5a9c94c5fee5823","datavalue":{"value":{"entity-type":"item","numeric-id":2298697,"id":"Q2298697"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"55ee7be9ee1c17b2b28ec2618dce0da7964aee0f","datavalue":{"value":{"amount":"+0.7717722654342651","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":"Q1992914$9256A878-F6C2-4BD6-8133-09B209A7110D","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1992914$FA4E89FE-EA92-415F-9B63-F4768AA64A4F","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1992914","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1992914"}}}}}