{"entities":{"Q2004089":{"pageid":2014831,"ns":120,"title":"Item:Q2004089","lastrevid":57260274,"modified":"2026-03-27T16:43:36Z","type":"item","id":"Q2004089","labels":{"en":{"language":"en","value":"Huber's M-estimation-based cubature Kalman filter for an INS/DVL integrated system"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7260828"}},"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":"Q2004089$515DED07-04A1-4AD3-87A8-42C2E42EBA8A","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"e662c9725b3a849694490a882c383586b2ab5e5e","datavalue":{"value":{"text":"Huber's M-estimation-based cubature Kalman filter for an INS/DVL integrated system","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2004089$3E735F65-7168-4281-8DC7-C41EC8FE54E9","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"668ff6e924dcd84d7597dc4e9a6665fc7a0ed05c","datavalue":{"value":"1459.93180","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2004089$40E2FF38-2D43-4213-80C7-DD5B49C7813C","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"aace2fba3852c4a7c990c758e8288523cb3380c2","datavalue":{"value":"10.1155/2020/1060672","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2004089$F5C5B514-5D94-4BD3-A1D5-544780475BF2","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"a10da9cf5ee82519ae1b329a5d7786376bfab11e","datavalue":{"value":{"entity-type":"item","numeric-id":288195,"id":"Q288195"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2004089$20ACAFC0-F50D-4B27-9318-E17A3114487C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d088c752ad238bc38bdc131e8d926eff2f81df60","datavalue":{"value":{"entity-type":"item","numeric-id":2004087,"id":"Q2004087"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2004089$B838986C-4B8C-4E3F-95A0-A8ADBFC4B8A3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"21cf8ccfd8d5e3dcdc3db358d963cc3ef48aafd2","datavalue":{"value":{"entity-type":"item","numeric-id":249809,"id":"Q249809"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2004089$98513530-556E-4914-AD05-B947361A1E7C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"87488701b41e99269034dab45a64baaf6483e459","datavalue":{"value":{"entity-type":"item","numeric-id":2004088,"id":"Q2004088"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2004089$96710E83-EB59-4B18-8401-164E5F639A8E","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2004089$C6F8E002-D630-4866-8A50-40FB06CDDAB6","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"01d421ee24aa6ebdb05b23704eda826b87451a7c","datavalue":{"value":{"time":"+2020-10-14T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2004089$A5E837D7-5CA1-4E8F-8032-F89D0E429FFD","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"3703a4d9a36e57a84dbb216849ab210a847be27d","datavalue":{"value":"Summary: To deal with the problems of outliers and nonlinearity in the complex underwater environment, a Huber's M-estimation-based cubature Kalman filter (CKF) is proposed for an inertial navigation system (INS)/Doppler velocity log (DVL) integrated system. First, a loosely coupled INS/DVL integrated system is designed, and the nonlinear system model is established in the case of big misalignment angle. Then, Huber's M-estimation is introduced for robust estimation to resist outliers. Meanwhile, the CKF is focused to handle the nonlinearity of the state equation. Finally, simulation and the vehicle test are conducted to evaluate the effectiveness of the proposed method. Results show that the proposed method outperforms the conventional Kalman filter (KF) and outlier detection-based robust cubature Kalman filter (RCKF) in terms of navigation accuracy in the complex underwater environment.","type":"string"},"datatype":"string"},"type":"statement","id":"Q2004089$A569C86C-CB59-4CAC-9587-F6A16307E7B6","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"19887720c9f9a189dd61bc85aa051ea9f0a2325d","datavalue":{"value":"93E11","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2004089$3DF4E56B-1E3C-4321-94B5-C91C031CD0E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"44b6a8d5fbccb37e13247cd57c2c97453bee8312","datavalue":{"value":"62G35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2004089$D61CB598-60AB-45CD-BEF9-8021E011EF16","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"5823d607a543702da84952b8d59bfb2f0bb4edc6","datavalue":{"value":"62J05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2004089$D913EACE-7205-4A51-B3E1-040DA7D2E68E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"8b1250d5f48f906ce0e3af1ee06d8d2b8489fb15","datavalue":{"value":"7260828","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2004089$C1E1D254-805F-4005-B31D-68325BAB1141","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":"Q2004089$C324D442-7035-4A6E-BF72-51E8E9FC477D","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"203f42721f13f1f98c4b719d90d2b24693ae1659","datavalue":{"value":"https://doi.org/10.1155/2020/1060672","type":"string"},"datatype":"url"},"type":"statement","id":"Q2004089$8970319B-795A-47D8-87CF-4CAB580445E3","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"6b970aabbdd4f4a6bf5e6ea61ecb9b27e720c788","datavalue":{"value":"W3088311925","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2004089$5130B56A-6D2F-4B63-9F44-76F7634F96FC","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d903c7e0622323d07ac59c531d63491152085c94","datavalue":{"value":{"entity-type":"item","numeric-id":5078400,"id":"Q5078400"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2004089$3E10DDC8-05EF-4E7E-9209-66AA87287A8C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9a8289a5b7583a328beda2d692982fbb16700987","datavalue":{"value":{"entity-type":"item","numeric-id":1847122,"id":"Q1847122"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2004089$73ED21C1-AC16-47E5-8180-A4CF38DB0D06","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f1e5ea059eccd701c1eaa44f21ec7fe6690c083f","datavalue":{"value":{"entity-type":"item","numeric-id":4687941,"id":"Q4687941"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"405ea1f3bac941aecd5d68411c1f10bc266cb0a0","datavalue":{"value":{"amount":"+0.7602660059928894","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":"Q2004089$761DC9EF-353D-4F40-8DEE-6AB5E84AB9EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"dceeba74bb08c2cf0ce02682009d72a3e6d72ff9","datavalue":{"value":{"entity-type":"item","numeric-id":1717989,"id":"Q1717989"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6c275495536b9474a736e6b519af312013715af0","datavalue":{"value":{"amount":"+0.7587354183197021","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":"Q2004089$177D2603-4FC6-431A-BC71-410CB4F26F4B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"60603aa8b635cf9fd942542df4e4659bf6dce8e6","datavalue":{"value":{"entity-type":"item","numeric-id":2916288,"id":"Q2916288"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a4a69d77957b82bfd2500c14a748fd3d3f039046","datavalue":{"value":{"amount":"+0.7465915083885193","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2004089$A4E67A9A-6EED-4BEE-AE4F-8A6E2D3A7D81","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0b2354f4dbca9161305d7e951fd1be8c2b566241","datavalue":{"value":{"entity-type":"item","numeric-id":5348652,"id":"Q5348652"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3d79288ff0d4038bdab4835c12c649a4c2cc072d","datavalue":{"value":{"amount":"+0.7408860325813293","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":"Q2004089$24451FBD-11AE-462E-A8CC-6B1D7AE35E3E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3c678461c956b6bf04475771c4dd3555b99ce6ad","datavalue":{"value":{"entity-type":"item","numeric-id":2798516,"id":"Q2798516"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"34f424207a3869f748aa0c1d7b22bea85cb654b2","datavalue":{"value":{"amount":"+0.7345609664916992","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":"Q2004089$4C1F25ED-DDDC-465E-84CE-91726BB62069","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2004089$B6B51B5F-1098-4841-BBDA-EAD830E5DCA5","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2004089","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2004089"}}}}}