{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,30]],"date-time":"2025-12-30T17:51:46Z","timestamp":1767117106348},"reference-count":29,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2019,2,20]],"date-time":"2019-02-20T00:00:00Z","timestamp":1550620800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2019,8]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>Robust positioning and navigation of a mobile robot in an urban environment is implemented by fusing the Global Positioning System (GPS) and Inertial Navigation System (INS) data with the aid of a motion estimator. To select and isolate malicious satellite signals and guarantee the minimum number of GPS signals for the localization, an enhanced fault detection and isolation (FDI) algorithm with a short-term memory has been developed in this research. When there are sufficient satellite signals for positioning, the horizontal dilution of precision (HDOP) has been applied for selecting the best four satellite signals to localize the mobile robot. Then, the GPS data are fused with INS data by a Kalman filter (KF) for a straight path and a curved motion estimator (CME) for a curved path. That is, the INS data are properly fused to the GPS data through the KF or CME process. To verify the effectiveness of the proposed algorithm, experiments using a mobile robot have been carried out on a university campus.<\/jats:p>","DOI":"10.1017\/s0263574718001534","type":"journal-article","created":{"date-parts":[[2019,2,20]],"date-time":"2019-02-20T08:23:29Z","timestamp":1550651009000},"page":"1320-1331","source":"Crossref","is-referenced-by-count":8,"title":["Robust Positioning and Navigation of a Mobile Robot in an Urban Environment Using a Motion Estimator"],"prefix":"10.1017","volume":"37","author":[{"given":"Jongwoo","family":"An","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jangmyung","family":"Lee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2019,2,20]]},"reference":[{"key":"S0263574718001534_ref11","first-page":"643","article-title":"FDI performance analysis of inertial sensors on multiple conic configuration","volume":"43","author":"Kim","year":"2015","journal-title":"J. Korean Soc. Aeronaut. Space Sci."},{"key":"S0263574718001534_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2007.908574"},{"key":"S0263574718001534_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/S0003-9993(99)90088-6"},{"key":"S0263574718001534_ref4","doi-asserted-by":"publisher","DOI":"10.1002\/2013GL058721"},{"key":"S0263574718001534_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2012.2205512"},{"key":"S0263574718001534_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2014.120402"},{"key":"S0263574718001534_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/WF-IoT.2014.6803187"},{"key":"S0263574718001534_ref2","doi-asserted-by":"publisher","DOI":"10.1175\/JTECH-D-13-00211.1"},{"key":"S0263574718001534_ref15","first-page":"2015","article-title":"Design of a fault detection and isolation system for intelligent vehicle navigation system","author":"Huang","year":"2015","journal-title":"Int. J. Navig. Obs"},{"key":"S0263574718001534_ref13","doi-asserted-by":"crossref","unstructured":"13. Abid, A. and Khan, M. T. , \u201cMulti-sensor, Multi-level Data Fusion and Behavioral Analysis Based Fault Detection and Isolation in Mobile Robots,\u201d Proceedings of 8th IEEE Information Technology, Electronics and Mobile Communication Conference, Vancouver, BC, Canada (2017) pp. 40\u201345.","DOI":"10.1109\/IEMCON.2017.8117139"},{"key":"S0263574718001534_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/LSP.2012.2195489"},{"key":"S0263574718001534_ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.amepre.2012.10.013"},{"key":"S0263574718001534_ref7","doi-asserted-by":"publisher","DOI":"10.1049\/iet-rsn.2012.0235"},{"key":"S0263574718001534_ref28","doi-asserted-by":"publisher","DOI":"10.1002\/j.2161-4296.1994.tb01888.x"},{"key":"S0263574718001534_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2012.06.016"},{"key":"S0263574718001534_ref14","doi-asserted-by":"crossref","unstructured":"14. Qiao, D. , Cheng, Q. and Hou, Y. , \u201cFault Detection and Isolation of Sensor in Time-delay Systems Based on Space Geometry Method,\u201d Proceedings of IEEE 11th Conference on Industrial Electronics and Applications (ICIEA), Hefei, China (2016) pp. 444\u2013449.","DOI":"10.1109\/ICIEA.2016.7603625"},{"key":"S0263574718001534_ref3","first-page":"25","article-title":"GPS based advance soldier tracking with emergency messages and communication system","volume":"2","author":"Pramod","year":"2014","journal-title":"Int. J. Adv. Res. Comput. Sci. Manag. Stud. Res. Art."},{"key":"S0263574718001534_ref16","first-page":"2012","article-title":"GNSS spoofing detection based on signal power measurements: Statistical analysis","author":"Dehghanian","year":"2012","journal-title":"Int. J. Navig. Obs"},{"key":"S0263574718001534_ref5","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004232"},{"key":"S0263574718001534_ref27","doi-asserted-by":"crossref","unstructured":"27. Sathyamorthy, D. , Shafii, S. and Amin, Z. F. M. , \u201cValuating the Trade-off between Global Positioning System (GPS) Accuracy and Power Saving from Reduction of Number of GPS Receiver Channels,\u201d Proceedings of IEEE International Conference on Space Science and Communication (IconSpace), Malaysia (2015) pp. 221\u2013224.","DOI":"10.1109\/IconSpace.2015.7283792"},{"key":"S0263574718001534_ref6","doi-asserted-by":"publisher","DOI":"10.1175\/JTECH-D-14-00111.1"},{"key":"S0263574718001534_ref18","doi-asserted-by":"crossref","unstructured":"18. Tahsin, M. , Sultana, S. and Reza, T. , \u201cAnalysis of DOP and Its Preciseness in GNSS Position Estimation,\u201d Proceedings of IEEE International Conference on Electrical Engineering and Information Communication Technology (ICEEICT), Dhaka, Bangladesh (2015) pp. 1\u20136.","DOI":"10.1109\/ICEEICT.2015.7307445"},{"key":"S0263574718001534_ref21","doi-asserted-by":"publisher","DOI":"10.1177\/0954406217723363"},{"key":"S0263574718001534_ref19","doi-asserted-by":"publisher","DOI":"10.1017\/S026357471400201X"},{"key":"S0263574718001534_ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s10291-013-0320-1"},{"key":"S0263574718001534_ref22","doi-asserted-by":"crossref","unstructured":"22. Murthy, S. D. , Krishnan, S. , Sundarrajan, G. , Kiran Kassyap, S. , Bhagwanth, R. and Balasubramanian, V. \u201cA Robust Approach for Improving the Accuracy of IMU Based Indoor Mobile Robot Localization,\u201d Proceedings of 13th International Conference on Informatics in Control, Automation and Robotics, Lisbon, Portugal, (2016) pp. 437\u2013445.","DOI":"10.5220\/0005986804360445"},{"key":"S0263574718001534_ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.asr.2017.12.016"},{"key":"S0263574718001534_ref25","doi-asserted-by":"publisher","DOI":"10.1002\/wcm.2232"},{"key":"S0263574718001534_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2017.2752137"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574718001534","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,27]],"date-time":"2021-10-27T07:50:05Z","timestamp":1635321005000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574718001534\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,2,20]]},"references-count":29,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2019,8]]}},"alternative-id":["S0263574718001534"],"URL":"https:\/\/doi.org\/10.1017\/s0263574718001534","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,2,20]]}}}