{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T06:22:00Z","timestamp":1763446920438,"version":"3.45.0"},"reference-count":55,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2025,10,23]],"date-time":"2025-10-23T00:00:00Z","timestamp":1761177600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Engineering Applications of Artificial Intelligence"],"published-print":{"date-parts":[[2026,1]]},"DOI":"10.1016\/j.engappai.2025.112842","type":"journal-article","created":{"date-parts":[[2025,10,25]],"date-time":"2025-10-25T01:30:56Z","timestamp":1761355856000},"page":"112842","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"P1","title":["Towards learning-based gyrocompassing"],"prefix":"10.1016","volume":"163","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0689-1097","authenticated-orcid":false,"given":"Daniel","family":"Engelsman","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7846-0654","authenticated-orcid":false,"given":"Itzik","family":"Klein","sequence":"additional","affiliation":[]}],"member":"78","reference":[{"issue":"5","key":"10.1016\/j.engappai.2025.112842_b1","doi-asserted-by":"crossref","first-page":"793","DOI":"10.1016\/j.measurement.2011.01.010","article-title":"Initial orientation of inertial navigation system realized through nonlinear modeling and filtering","volume":"44","author":"Ali","year":"2011","journal-title":"Measurement"},{"issue":"2","key":"10.1016\/j.engappai.2025.112842_b2","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1109\/PROC.1966.4634","article-title":"Statistics of atomic frequency standards","volume":"54","author":"Allan","year":"1966","journal-title":"Proc. IEEE"},{"issue":"11","key":"10.1016\/j.engappai.2025.112842_b3","doi-asserted-by":"crossref","first-page":"2300","DOI":"10.1088\/0957-0233\/16\/11\/024","article-title":"Earth rotation measurement with micromechanical yaw-rate gyro","volume":"16","author":"Arnaudov","year":"2005","journal-title":"Meas. Sci. Technol."},{"key":"10.1016\/j.engappai.2025.112842_b4","doi-asserted-by":"crossref","DOI":"10.1016\/j.measurement.2024.114121","article-title":"True north measurement: A comprehensive review of Carouseling and Maytagging methods of gyrocompassing","author":"Asif","year":"2024","journal-title":"Measurement"},{"key":"10.1016\/j.engappai.2025.112842_b5","series-title":"2011 16th International Solid-State Sensors, Actuators and Microsystems Conference","first-page":"2805","article-title":"Multi-DOF inertial MEMS: From gaming to dead reckoning","author":"Ayazi","year":"2011"},{"issue":"4","key":"10.1016\/j.engappai.2025.112842_b6","doi-asserted-by":"crossref","first-page":"337","DOI":"10.2514\/3.55999","article-title":"Azimuth observability enhancement during inertial navigation system in-flight alignment","volume":"3","author":"Bar-Itzhack","year":"1980","journal-title":"J. Guid. Control"},{"year":"2011","series-title":"Random Data: Analysis and Measurement Procedures","author":"Bendat","key":"10.1016\/j.engappai.2025.112842_b7"},{"year":"2010","series-title":"Inertial Navigation Systems Analysis","author":"Britting","key":"10.1016\/j.engappai.2025.112842_b8"},{"issue":"4","key":"10.1016\/j.engappai.2025.112842_b9","doi-asserted-by":"crossref","first-page":"1697","DOI":"10.1109\/TAES.2016.130824","article-title":"Optimization-based alignment for strapdown inertial navigation system: Comparison and extension","volume":"52","author":"Chang","year":"2016","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"issue":"11","key":"10.1016\/j.engappai.2025.112842_b10","doi-asserted-by":"crossref","DOI":"10.1088\/1361-6501\/ad67f8","article-title":"TinyGC-Net: an extremely tiny network for calibrating MEMS gyroscopes","volume":"35","author":"Chao","year":"2024","journal-title":"Meas. Sci. Technol."},{"year":"1997","series-title":"Fundamentals of High Accuracy Inertial Navigation","author":"Chatfield","key":"10.1016\/j.engappai.2025.112842_b11"},{"issue":"4","key":"10.1016\/j.engappai.2025.112842_b12","doi-asserted-by":"crossref","first-page":"765","DOI":"10.1088\/0957-0233\/15\/4\/021","article-title":"A novel method improving the alignment accuracy of a strapdown inertial navigation system on a stationary base","volume":"15","author":"Chuanbin","year":"2004","journal-title":"Meas. Sci. Technol."},{"key":"10.1016\/j.engappai.2025.112842_b13","doi-asserted-by":"crossref","DOI":"10.1016\/j.rineng.2024.103565","article-title":"Inertial navigation meets deep learning: A survey of current trends and future directions","author":"Cohen","year":"2024","journal-title":"Results Eng."},{"issue":"10","key":"10.1016\/j.engappai.2025.112842_b14","doi-asserted-by":"crossref","first-page":"1261","DOI":"10.1177\/0142331216649019","article-title":"A fast initial alignment for SINS based on disturbance observer and Kalman filter","volume":"38","author":"Du","year":"2016","journal-title":"Trans. Inst. Meas. Control"},{"issue":"1","key":"10.1016\/j.engappai.2025.112842_b15","doi-asserted-by":"crossref","first-page":"140","DOI":"10.1109\/TIM.2007.908635","article-title":"Analysis and modeling of inertial sensors using Allan variance","volume":"57","author":"El-Sheimy","year":"2007","journal-title":"IEEE Trans. Instrum. Meas."},{"issue":"10","key":"10.1016\/j.engappai.2025.112842_b16","doi-asserted-by":"crossref","first-page":"32","DOI":"10.1109\/MAES.2004.1365016","article-title":"Wavelet de-noising for IMU alignment","volume":"19","author":"El-Sheimy","year":"2004","journal-title":"IEEE Aerosp. Electron. Syst. Mag."},{"issue":"1","key":"10.1016\/j.engappai.2025.112842_b17","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s43020-019-0001-5","article-title":"Inertial sensors technologies for navigation applications: State of the art and future trends","volume":"1","author":"El-Sheimy","year":"2020","journal-title":"Satell. Navig."},{"key":"10.1016\/j.engappai.2025.112842_b18","doi-asserted-by":"crossref","unstructured":"Engelsman, D., Klein, I., 2022. A Learning-Based Approach for Bias Elimination in Low-Cost Gyroscopes. In: 2022 IEEE International Symposium on Robotic and Sensors Environments. ROSE, pp. 01\u201305.","DOI":"10.1109\/ROSE56499.2022.9977422"},{"key":"10.1016\/j.engappai.2025.112842_b19","doi-asserted-by":"crossref","DOI":"10.1016\/j.measurement.2023.113218","article-title":"Data-driven denoising of stationary accelerometer signals","volume":"218","author":"Engelsman","year":"2023","journal-title":"Measurement","ISSN":"https:\/\/id.crossref.org\/issn\/0263-2241","issn-type":"print"},{"key":"10.1016\/j.engappai.2025.112842_b20","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TIM.2023.3303496","article-title":"Information-Aided inertial navigation: A review","volume":"72","author":"Engelsman","year":"2023","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"10.1016\/j.engappai.2025.112842_b21","doi-asserted-by":"crossref","first-page":"148592","DOI":"10.1109\/ACCESS.2024.3476145","article-title":"Parametric and state estimation of stationary inertial sensors","volume":"12","author":"Engelsman","year":"2024","journal-title":"IEEE Access"},{"key":"10.1016\/j.engappai.2025.112842_b22","series-title":"29th IEEE Conference on Decision and Control","first-page":"3325","article-title":"Application of Kalman filtering to the calibration and alignment of inertial navigation systems","author":"Grewal","year":"1990"},{"issue":"2","key":"10.1016\/j.engappai.2025.112842_b23","doi-asserted-by":"crossref","first-page":"26","DOI":"10.1109\/MAES.2014.14110","article-title":"Principles of GNSS, inertial, and multisensor integrated navigation systems, [Book review]","volume":"30","author":"Groves","year":"2015","journal-title":"IEEE Aerosp. Electron. Syst. Mag."},{"key":"10.1016\/j.engappai.2025.112842_b24","unstructured":"Guerrier, S., 2009. Improving accuracy with multiple sensors: Study of redundant MEMS-IMU\/GPS configurations. In: Proceedings of the 22nd International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS 2009). pp. 3114\u20133121."},{"issue":"3","key":"10.1016\/j.engappai.2025.112842_b25","doi-asserted-by":"crossref","first-page":"1303","DOI":"10.1109\/TMECH.2018.2835486","article-title":"A new fast in-motion coarse alignment method for GPS-aided low-cost SINS","volume":"23","author":"Huang","year":"2018","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"10.1016\/j.engappai.2025.112842_b26","series-title":"Breakthroughs in Statistics: Methodology and Distribution","first-page":"492","article-title":"Robust estimation of a location parameter","author":"Huber","year":"1992"},{"key":"10.1016\/j.engappai.2025.112842_b27","unstructured":"Iozan, L., Collin, J., Pekkalin, O., Hautam\u00e4ki, J., Takala, J., Rusu, C., 2010a. Measuring the Earth\u2019s rotation rate using a low-cost MEMS gyroscope. In: Proceedings of the 2010 Symposium Gyro Technology, Karlsruhe, Germany. Vol. 2122, pp. 1\u201313."},{"key":"10.1016\/j.engappai.2025.112842_b28","unstructured":"Iozan, L.I., Kirkko-Jaakkola, M., Collin, J., Takala, J., Rusu, C., 2010b. North finding system using a MEMS gyroscope. In: Proceedings of European Navigation Conference on Global Navigation Satellite Systems, Braunschweig, Germany. pp. 19\u201321."},{"issue":"1","key":"10.1016\/j.engappai.2025.112842_b29","doi-asserted-by":"crossref","first-page":"334","DOI":"10.1109\/7.640292","article-title":"Error analysis of analytic coarse alignment methods","volume":"34","author":"Jiang","year":"1998","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"issue":"1","key":"10.1016\/j.engappai.2025.112842_b30","doi-asserted-by":"crossref","first-page":"92","DOI":"10.1109\/7.135435","article-title":"Error estimation of INS ground alignment through observability analysis","volume":"28","author":"Jiang","year":"1992","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"10.1016\/j.engappai.2025.112842_b31","doi-asserted-by":"crossref","DOI":"10.1016\/j.measurement.2022.111746","article-title":"An optimization-based in-motion fine alignment and positioning algorithm for underwater vehicles","volume":"202","author":"Jin","year":"2022","journal-title":"Measurement"},{"key":"10.1016\/j.engappai.2025.112842_b32","series-title":"IEEE\/ION Position, Location and Navigation Symposium","first-page":"168","article-title":"Development of a MEMS gyroscope for northfinding applications","author":"Johnson","year":"2010"},{"issue":"9","key":"10.1016\/j.engappai.2025.112842_b33","doi-asserted-by":"crossref","first-page":"1077","DOI":"10.1016\/j.measurement.2010.05.008","article-title":"Critical remarks on the linearised and extended Kalman filters with geodetic navigation examples","volume":"43","author":"Jwo","year":"2010","journal-title":"Measurement"},{"key":"10.1016\/j.engappai.2025.112842_b34","doi-asserted-by":"crossref","first-page":"79021","DOI":"10.1109\/ACCESS.2021.3079381","article-title":"INS fine alignment with low-cost gyroscopes: Adaptive filters for different measurement types","volume":"9","author":"Klein","year":"2021","journal-title":"IEEE Access"},{"issue":"1","key":"10.1016\/j.engappai.2025.112842_b35","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1002\/navi.222","article-title":"Observability analysis of heading aided INS for a maneuvering AUV","volume":"65","author":"Klein","year":"2018","journal-title":"NAVIGATION: J. Inst. Navig."},{"issue":"5","key":"10.1016\/j.engappai.2025.112842_b36","doi-asserted-by":"crossref","first-page":"417","DOI":"10.2514\/3.56190","article-title":"Kalman filtering for spacecraft attitude estimation","volume":"5","author":"Lefferts","year":"1982","journal-title":"J. Guid. Control Dyn."},{"issue":"11","key":"10.1016\/j.engappai.2025.112842_b37","doi-asserted-by":"crossref","first-page":"3058","DOI":"10.1109\/TIM.2012.2202186","article-title":"Error analysis and gyro-bias calibration of analytic coarse alignment for airborne POS","volume":"61","author":"Li","year":"2012","journal-title":"IEEE Trans. Instrum. Meas."},{"issue":"9","key":"10.1016\/j.engappai.2025.112842_b38","doi-asserted-by":"crossref","first-page":"3278","DOI":"10.1109\/TIM.2018.2878071","article-title":"Gradient descent optimization-based self-alignment method for stationary SINS","volume":"68","author":"Li","year":"2018","journal-title":"IEEE Trans. Instrum. Meas."},{"issue":"4","key":"10.1016\/j.engappai.2025.112842_b39","doi-asserted-by":"crossref","first-page":"727","DOI":"10.1017\/S0373463314000198","article-title":"An improved optimal method for initial alignment","volume":"67","author":"Li","year":"2014","journal-title":"J. Navig."},{"key":"10.1016\/j.engappai.2025.112842_b40","doi-asserted-by":"crossref","first-page":"593","DOI":"10.1016\/j.measurement.2014.06.004","article-title":"An initial alignment method for strapdown gyrocompass based on gravitational apparent motion in inertial frame","volume":"55","author":"Liu","year":"2014","journal-title":"Measurement"},{"key":"10.1016\/j.engappai.2025.112842_b41","unstructured":"Osman, A., Wright, B., Noureldin, A., El-Sheimy, N., 2006. Multi-sensor inertial navigation systems employing skewed redundant inertial sensors. In: Proceedings of the 19th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS 2006). pp. 2202\u20132207."},{"issue":"5","key":"10.1016\/j.engappai.2025.112842_b42","doi-asserted-by":"crossref","first-page":"4053","DOI":"10.1109\/TAES.2022.3157570","article-title":"Optimization-based strapdown attitude alignment for high-accuracy systems: Covariance analysis with applications","volume":"58","author":"Ouyang","year":"2022","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"issue":"1","key":"10.1016\/j.engappai.2025.112842_b43","doi-asserted-by":"crossref","first-page":"320","DOI":"10.1109\/7.366314","article-title":"Covariance analysis of strapdown INS considering gyrocompass characteristics","volume":"31","author":"Park","year":"1995","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"issue":"6","key":"10.1016\/j.engappai.2025.112842_b44","doi-asserted-by":"crossref","first-page":"1257","DOI":"10.1109\/JMEMS.2013.2282936","article-title":"What is MEMS gyrocompassing? Comparative analysis of maytagging and carouseling","volume":"22","author":"Prikhodko","year":"2013","journal-title":"J. Microelectromech. Syst."},{"year":"2008","series-title":"The Effect of Carouseling on MEMS-IMU Performance for Gyrocompassing Applications","author":"Renkoski","key":"10.1016\/j.engappai.2025.112842_b45"},{"issue":"1","key":"10.1016\/j.engappai.2025.112842_b46","doi-asserted-by":"crossref","first-page":"19","DOI":"10.2514\/2.4228","article-title":"Strapdown inertial navigation integration algorithm design part 1: Attitude algorithms","volume":"21","author":"Savage","year":"1998","journal-title":"J. Guid. Control Dyn."},{"key":"10.1016\/j.engappai.2025.112842_b47","series-title":"Proceedings of Position, Location and Navigation Symposium-PLANS\u201996","first-page":"477","article-title":"Inertial navigator error models for large heading uncertainty","author":"Scherzinger","year":"1996"},{"key":"10.1016\/j.engappai.2025.112842_b48","series-title":"Proceedings of Position, Location and Navigation Symposium-PLANS\u201996","first-page":"324","article-title":"New approach to coarse alignment","author":"Schimelevich","year":"1996"},{"key":"10.1016\/j.engappai.2025.112842_b49","unstructured":"Shin, E.-H., El-Sheimy, N., 2002. Accuracy improvement of low cost INS\/GPS for land applications. In: Proceedings of the 2002 National Technical Meeting of the Institute of Navigation. pp. 146\u2013157."},{"issue":"4","key":"10.1016\/j.engappai.2025.112842_b50","doi-asserted-by":"crossref","first-page":"1777","DOI":"10.1109\/TAES.2016.7738355","article-title":"Error analysis of analytical coarse alignment formulations for stationary SINS","volume":"52","author":"Silva","year":"2016","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"10.1016\/j.engappai.2025.112842_b51","doi-asserted-by":"crossref","unstructured":"Tazartes, D., 2014. An historical perspective on inertial navigation systems. In: 2014 International Symposium on Inertial Sensors and Systems. ISISS, pp. 1\u20135.","DOI":"10.1109\/ISISS.2014.6782505"},{"issue":"19","key":"10.1016\/j.engappai.2025.112842_b52","doi-asserted-by":"crossref","first-page":"11350","DOI":"10.1109\/JSEN.2020.2996230","article-title":"A cosine-fitting self-alignment method of MEMS-based inertial navigation system consisting of a skew FOG","volume":"20","author":"Tian","year":"2020","journal-title":"IEEE Sens. J."},{"year":"2004","series-title":"Strapdown Inertial Navigation Technology","author":"Titterton","key":"10.1016\/j.engappai.2025.112842_b53"},{"key":"10.1016\/j.engappai.2025.112842_b54","series-title":"Proceedings of the 2012 IEEE\/ION Position, Location and Navigation Symposium","first-page":"862","article-title":"Estimation of deterministic and stochastic IMU error parameters","author":"Unsal","year":"2012"},{"issue":"5","key":"10.1016\/j.engappai.2025.112842_b55","doi-asserted-by":"crossref","first-page":"2437","DOI":"10.1109\/TMECH.2020.2975960","article-title":"Novel noncontinuous carouseling approaches for MEMS-based north seeking using Kalman filter: Theory, simulations, and preliminary experimental evaluation","volume":"25","author":"Zacchini","year":"2020","journal-title":"IEEE\/ASME Trans. Mechatronics"}],"container-title":["Engineering Applications of Artificial Intelligence"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0952197625028738?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0952197625028738?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T06:18:38Z","timestamp":1763446718000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0952197625028738"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,1]]},"references-count":55,"alternative-id":["S0952197625028738"],"URL":"https:\/\/doi.org\/10.1016\/j.engappai.2025.112842","relation":{},"ISSN":["0952-1976"],"issn-type":[{"type":"print","value":"0952-1976"}],"subject":[],"published":{"date-parts":[[2026,1]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Towards learning-based gyrocompassing","name":"articletitle","label":"Article Title"},{"value":"Engineering Applications of Artificial Intelligence","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.engappai.2025.112842","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2025 The Authors. Published by Elsevier Ltd.","name":"copyright","label":"Copyright"}],"article-number":"112842"}}