{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,3,26]],"date-time":"2024-03-26T20:02:25Z","timestamp":1711483345711},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"7","license":[{"start":{"date-parts":[[2022,1,19]],"date-time":"2022-01-19T00:00:00Z","timestamp":1642550400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,1,19]],"date-time":"2022-01-19T00:00:00Z","timestamp":1642550400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"name":"national key laboratory fund","award":["94767699"],"award-info":[{"award-number":["94767699"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Supercomput"],"published-print":{"date-parts":[[2022,5]]},"DOI":"10.1007\/s11227-021-04219-z","type":"journal-article","created":{"date-parts":[[2022,1,19]],"date-time":"2022-01-19T00:03:11Z","timestamp":1642550591000},"page":"9840-9861","update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Application of distributed motion estimation for swarm MAVs in a GPS-restricted environment based on a wireless sensor network"],"prefix":"10.1007","volume":"78","author":[{"given":"Wenzhong","family":"Lou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinkui","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zilong","family":"Su","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dakui","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,1,19]]},"reference":[{"key":"4219_CR1","doi-asserted-by":"publisher","first-page":"183856","DOI":"10.1109\/ACCESS.2020.3028865","volume":"8","author":"Y Zhou","year":"2020","unstructured":"Zhou Y, Rao B, Wang W (2020) UAV swarm intelligence: recent advances and future trends. IEEE Access 8:183856\u2013183878. https:\/\/doi.org\/10.1109\/ACCESS.2020.3028865","journal-title":"IEEE Access"},{"issue":"01","key":"4219_CR2","doi-asserted-by":"publisher","first-page":"154","DOI":"10.1016\/j.dt.2019.09.002","volume":"16","author":"JR Fan","year":"2020","unstructured":"Fan JR, Li DG (2020) Analysis on MAV\/UAV cooperative combat based on complex network. Defence Technol 16(01):154\u2013161. https:\/\/doi.org\/10.1016\/j.dt.2019.09.002","journal-title":"Defence Technol"},{"issue":"1","key":"4219_CR3","doi-asserted-by":"publisher","first-page":"111","DOI":"10.1007\/s11227-020-03264-4","volume":"77","author":"F Ye","year":"2021","unstructured":"Ye F, Chen J, Sun Q, Tian Y, Jiang T (2021) Decentralized task allocation for heterogeneous multi-UAV system with task coupling constraints. J Supercomput 77(1):111\u2013132. https:\/\/doi.org\/10.1007\/s11227-020-03264-4","journal-title":"J Supercomput"},{"issue":"1\u20134","key":"4219_CR4","doi-asserted-by":"publisher","first-page":"339","DOI":"10.1007\/s10846-010-9492-x","volume":"61","author":"A B\u00fcrkle","year":"2011","unstructured":"B\u00fcrkle A, Segor F, Kollmann M (2011) Towards autonomous micro UAV swarms. J Intell Rob Syst 61(1\u20134):339\u2013353. https:\/\/doi.org\/10.1007\/s10846-010-9492-x","journal-title":"J Intell Rob Syst"},{"key":"4219_CR5","doi-asserted-by":"publisher","first-page":"18","DOI":"10.3389\/frobt.2020.00018","volume":"7","author":"M Coppola","year":"2020","unstructured":"Coppola M, McGuire KN, De Wagter C (2020) A survey on swarming with micro air vehicles: Fundamental challenges and constraints. Front Robot AI 7:18. https:\/\/doi.org\/10.3389\/frobt.2020.00018","journal-title":"Front Robot AI"},{"key":"4219_CR6","doi-asserted-by":"publisher","DOI":"10.1016\/j.paerosci.2020.100617","author":"S Bijjahalli","year":"2020","unstructured":"Bijjahalli S, Sabatini R, Gardi A (2020) Advances in intelligent and autonomous navigation systems for small UAS. Prog Aerosp Sci. https:\/\/doi.org\/10.1016\/j.paerosci.2020.100617","journal-title":"Prog Aerosp Sci"},{"key":"4219_CR7","doi-asserted-by":"publisher","unstructured":"Hong E, Lim J (2017) Visual inertial odometry using coupled nonlinear optimization. 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE pp 6879\u20136885. https:\/\/doi.org\/10.1109\/IROS.2017.8206610","DOI":"10.1109\/IROS.2017.8206610"},{"issue":"3","key":"4219_CR8","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1109\/MRA.2012.2206473","volume":"19","author":"T Tomic","year":"2012","unstructured":"Tomic T, Schmid K, Lutz P (2012) Toward a fully autonomous UAV: Research platform for indoor and outdoor Urban search and rescue. Robot Autom Mag IEEE 19(3):46\u201356. https:\/\/doi.org\/10.1109\/MRA.2012.2206473","journal-title":"Robot Autom Mag IEEE"},{"key":"4219_CR9","doi-asserted-by":"publisher","DOI":"10.3390\/s18103559","author":"R Wang","year":"2018","unstructured":"Wang R, Di K, Wan W (2018) Improved point-line feature based visual SLAM method for indoor scenes. Sensors. https:\/\/doi.org\/10.3390\/s18103559","journal-title":"Sensors"},{"issue":"3","key":"4219_CR10","doi-asserted-by":"publisher","first-page":"229","DOI":"10.1109\/70.938381","volume":"17","author":"M Dissanayake","year":"2013","unstructured":"Dissanayake M, Newman P, Clark S (2013) A solution to the simultaneous localization and map building (SLAM) problem. IEEE Trans Ra 17(3):229\u2013241. https:\/\/doi.org\/10.1109\/70.938381","journal-title":"IEEE Trans Ra"},{"issue":"6","key":"4219_CR11","doi-asserted-by":"publisher","first-page":"1309","DOI":"10.1109\/TRO.2016.2624754","volume":"32","author":"C Cadena","year":"2016","unstructured":"Cadena C, Carlone L, Carrillo H (2016) Past, present, and future of simultaneous localization and mapping: toward the robust-perception age. IEEE Trans Rob 32(6):1309\u20131332. https:\/\/doi.org\/10.1109\/TRO.2016.2624754","journal-title":"IEEE Trans Rob"},{"issue":"12","key":"4219_CR12","doi-asserted-by":"publisher","first-page":"11","DOI":"10.3390\/s17010011","volume":"17","author":"S Yu","year":"2017","unstructured":"Yu S, Nuske S, Scherer S (2017) A multi-sensor fusion MAV state estimation from long-range stereo, IMU GPS and barometric sensors. Sensors 17(12):11. https:\/\/doi.org\/10.3390\/s17010011","journal-title":"Sensors"},{"issue":"8","key":"4219_CR13","doi-asserted-by":"publisher","first-page":"5040","DOI":"10.1007\/s11227-019-02781-1","volume":"75","author":"J Kumari","year":"2019","unstructured":"Kumari J, Kumar P, Singh SK (2019) Localization in three-dimensional wireless sensor networks: a survey. J Supercomput 75(8):5040\u20135083. https:\/\/doi.org\/10.1007\/s11227-019-02781-1","journal-title":"J Supercomput"},{"issue":"4","key":"4219_CR14","doi-asserted-by":"publisher","first-page":"2947","DOI":"10.1109\/TAES.2012.6324671","volume":"48","author":"M Barczyk","year":"2012","unstructured":"Barczyk M, Lynch AF (2012) Integration of a triaxial magnetometer into a helicopter UAV GPS-aided INS. IEEE Trans Aerosp Electron Syst 48(4):2947\u20132960. https:\/\/doi.org\/10.1109\/TAES.2012.6324671","journal-title":"IEEE Trans Aerosp Electron Syst"},{"issue":"7","key":"4219_CR15","doi-asserted-by":"publisher","first-page":"838","DOI":"10.3390\/rs11070838","volume":"11","author":"Y Li","year":"2019","unstructured":"Li Y, Zahran S, Zhuang Y (2019) IMU\/magnetometer\/barometer\/mass-flow sensor integrated indoor quadrotor UAV localization with robust velocity updates. Remote Sens 11(7):838. https:\/\/doi.org\/10.3390\/rs11070838","journal-title":"Remote Sens"},{"key":"4219_CR16","doi-asserted-by":"publisher","unstructured":"Li J, Bi Y, Li K (2018) Accurate 3D localization for MAV swarms by UWB and IMU fusion. 2018 IEEE 14th International Conference on Control and Automation (ICCA). IEEE pp 100\u2013105. https:\/\/doi.org\/10.1109\/ICCA.2018.8444329","DOI":"10.1109\/ICCA.2018.8444329"},{"key":"4219_CR17","doi-asserted-by":"publisher","unstructured":"Queralta J P, Almansa C M, Schiano F(2020) UWB-based system for UAV Localization in GNSS-Denied Environments: Characterization and Dataset. arXiv preprint. arXiv:2003.04380arXiv:2003.04380https:\/\/doi.org\/10.1109\/IROS45743.2020.9341042","DOI":"10.1109\/IROS45743.2020.9341042"},{"key":"4219_CR18","doi-asserted-by":"publisher","unstructured":"Xu H, Wang L, Zhang Y (2020) Decentralized visual-inertial-UWB fusion for relative state estimation of aerial swarm. 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, pp 8776\u20138782. https:\/\/doi.org\/10.1109\/ICRA40945.2020.9196944","DOI":"10.1109\/ICRA40945.2020.9196944"},{"issue":"11","key":"4219_CR19","doi-asserted-by":"publisher","first-page":"624","DOI":"10.2514\/1.I010785","volume":"17","author":"C Yang","year":"2020","unstructured":"Yang C, Strader J, Gu Y (2020) Cooperative navigation using pairwise communication with ranging and magnetic anomaly measurements. J Aerosp Inf Syst 17(11):624\u2013633. https:\/\/doi.org\/10.2514\/1.I010785","journal-title":"J Aerosp Inf Syst"},{"key":"4219_CR20","doi-asserted-by":"publisher","unstructured":"Goel S (2017) A distributed cooperative uav swarm localization system: Development and analysis. Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017) pp 2501\u20132518. https:\/\/doi.org\/10.33012\/2017.15217","DOI":"10.33012\/2017.15217"},{"issue":"27599\u201323175","key":"4219_CR21","first-page":"41","volume":"8","author":"G Welch","year":"2001","unstructured":"Welch G (2001) Kalman filter. Siggraph Tutorial 8(27599\u201323175):41","journal-title":"Siggraph Tutorial"},{"issue":"1","key":"4219_CR22","first-page":"1","volume":"2","author":"N Assimakis","year":"2012","unstructured":"Assimakis N, Adam M, Douladiris A (2012) Information filter and kalman filter comparison: selection of the faster filter. Inf Eng 2(1):1\u20135","journal-title":"Inf Eng"},{"key":"4219_CR23","doi-asserted-by":"publisher","unstructured":"Ryu K, Back J (2019) Distributed Kalman-filtering: Distributed optimization viewpoint. 2019 IEEE 58th Conference on Decision and Control (CDC). IEEE pp 2640\u20132645. https:\/\/doi.org\/10.1109\/CDC40024.2019.9029645","DOI":"10.1109\/CDC40024.2019.9029645"},{"key":"4219_CR24","doi-asserted-by":"publisher","unstructured":"Bai H, Freeman RA, Lynch KM (2011) Distributed Kalman filtering using the internal model average consensus estimator. Proceedings of the 2011 American Control Conference. IEEE pp 1500\u20131505. https:\/\/doi.org\/10.1109\/ACC.2011.5991484","DOI":"10.1109\/ACC.2011.5991484"},{"key":"4219_CR25","doi-asserted-by":"publisher","unstructured":"Kim J, Shim H, Wu J (2016) On distributed optimal Kalman-Bucy filtering by averaging dynamics of heterogeneous agents. 2016 IEEE 55th Conference on Decision and Control (CDC). IEEE pp 6309\u20136314. https:\/\/doi.org\/10.1109\/CDC.2016.7799240","DOI":"10.1109\/CDC.2016.7799240"},{"issue":"5","key":"4219_CR26","doi-asserted-by":"publisher","first-page":"1410","DOI":"10.1109\/TAC.2014.2357135","volume":"60","author":"G Battistelli","year":"2014","unstructured":"Battistelli G, Chisci L, Mugnai G (2014) Consensus-based linear and nonlinear filtering. IEEE Trans Autom Control 60(5):1410\u20131415. https:\/\/doi.org\/10.1109\/TAC.2014.2357135","journal-title":"IEEE Trans Autom Control"},{"key":"4219_CR27","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1016\/j.automatica.2016.01.071","volume":"68","author":"G Battistelli","year":"2016","unstructured":"Battistelli G, Chisci L (2016) Stability of consensus extended Kalman filter for distributed state estimation. Automatica 68:169\u2013178. https:\/\/doi.org\/10.1016\/j.automatica.2016.01.071","journal-title":"Automatica"},{"issue":"10","key":"4219_CR28","doi-asserted-by":"publisher","first-page":"4919","DOI":"10.1109\/TSP.2008.927480","volume":"56","author":"UA Khan","year":"2008","unstructured":"Khan UA, Moura JMF (2008) Distributing the Kalman filter for large-scale systems. IEEE Trans Signal Process 56(10):4919\u20134935. https:\/\/doi.org\/10.1109\/TSP.2008.927480","journal-title":"IEEE Trans Signal Process"},{"issue":"10","key":"4219_CR29","doi-asserted-by":"publisher","first-page":"4396","DOI":"10.1109\/TAC.2019.2897887","volume":"64","author":"SP Talebi","year":"2019","unstructured":"Talebi SP, Werner S (2019) Distributed Kalman filtering and control through embedded average consensus information fusion. IEEE Trans Autom Control 64(10):4396\u20134403. https:\/\/doi.org\/10.1109\/TAC.2019.2897887","journal-title":"IEEE Trans Autom Control"},{"issue":"8","key":"4219_CR30","first-page":"2261","volume":"11","author":"Y Ming","year":"2010","unstructured":"Ming Y (2010) High dimensional inverse covariance matrix estimation via linear programming. J Mach Learn Res 11(8):2261\u20132286","journal-title":"J Mach Learn Res"},{"key":"4219_CR31","unstructured":"https: \/\/dev.px4.io\/zh\/tutorials\/tuning_the_ecl_ekf.html."},{"key":"4219_CR32","unstructured":"https:\/\/docs.px4.io\/master\/en\/flight_controller\/pixhawk4.html"},{"issue":"11","key":"4219_CR33","doi-asserted-by":"publisher","first-page":"9037","DOI":"10.1109\/TIM.2020.2996706","volume":"69","author":"J Sidorenko","year":"2020","unstructured":"Sidorenko J, Schatz V, Scherer-Negenborn N (2020) Error corrections for ultra-wideband ranging. IEEE Trans Instrum Measure 69(11):9037\u20139047. https:\/\/doi.org\/10.1109\/TIM.2020.2996706","journal-title":"IEEE Trans Instrum Measure"}],"container-title":["The Journal of Supercomputing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11227-021-04219-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11227-021-04219-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11227-021-04219-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,19]],"date-time":"2022-04-19T15:15:46Z","timestamp":1650381346000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11227-021-04219-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,1,19]]},"references-count":33,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2022,5]]}},"alternative-id":["4219"],"URL":"https:\/\/doi.org\/10.1007\/s11227-021-04219-z","relation":{},"ISSN":["0920-8542","1573-0484"],"issn-type":[{"value":"0920-8542","type":"print"},{"value":"1573-0484","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,1,19]]},"assertion":[{"value":"17 November 2021","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 January 2022","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"We declare that we do not have any commercial or associative interest that represents a conflict of interest in connection with the work submitted.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}