{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,28]],"date-time":"2026-04-28T04:43:09Z","timestamp":1777351389730,"version":"3.51.4"},"reference-count":46,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"19","license":[{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62203228"],"award-info":[{"award-number":["62203228"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61873125"],"award-info":[{"award-number":["61873125"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004502","name":"Natural Science Research Start-up Foundation of Recruiting Talents of Nanjing University of Posts and Telecommunications","doi-asserted-by":"publisher","award":["NY221137"],"award-info":[{"award-number":["NY221137"]}],"id":[{"id":"10.13039\/501100004502","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2023M742216"],"award-info":[{"award-number":["2023M742216"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2025T180485"],"award-info":[{"award-number":["2025T180485"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Internet Things J."],"published-print":{"date-parts":[[2025,10,1]]},"DOI":"10.1109\/jiot.2025.3590022","type":"journal-article","created":{"date-parts":[[2025,7,17]],"date-time":"2025-07-17T18:00:20Z","timestamp":1752775220000},"page":"40206-40220","source":"Crossref","is-referenced-by-count":2,"title":["Unified Cooperative Localization via Augmented Factor Graph and Error State Message Passing"],"prefix":"10.1109","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5472-2250","authenticated-orcid":false,"given":"Jun","family":"Xiong","sequence":"first","affiliation":[{"name":"School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4822-3134","authenticated-orcid":false,"given":"Xiang-peng","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Internet-of-Things, Nanjing University of Posts and Telecommunications, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4619-4384","authenticated-orcid":false,"given":"Zhi","family":"Xiong","sequence":"additional","affiliation":[{"name":"College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3377-9658","authenticated-orcid":false,"given":"Yuan","family":"Zhuang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Zheng","sequence":"additional","affiliation":[{"name":"Navigation and Control Technology Research Institute, China North Industries Group Corporation, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Wang","sequence":"additional","affiliation":[{"name":"Shanghai Huace Navigation Technology Ltd., Shanghai, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2022.3231332"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981107"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2021.3086887"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3287209"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3249251"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2020.3006026"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2398874"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP43922.2022.9747585"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2008.2008853"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.2988531"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3227858"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.3390\/rs14091976"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2019.2905570"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2023.3282210"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3067640"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636776"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2926671"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2023.3262656"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2021.3130000"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2018.2794405"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/OJSP.2022.3154684"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2018.2811408"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2023.3290959"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.33012\/navi.608"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1002\/navi.421"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaw4523"},{"key":"ref27","article-title":"A visual introduction to Gaussian belief propagation","author":"Ortiz","year":"2021","journal-title":"arXiv:2107.02308"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TWC.2019.2937781"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/LSP.2022.3184534"},{"key":"ref30","first-page":"1","article-title":"Gaussian ensemble belief propagation for efficient inference in high-dimensional, black-box systems","volume-title":"Proc. 13th Int. Conf. Learn. Represent.","author":"MacKinlay"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.2514\/6.2011-6615"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/2138643"},{"key":"ref33","article-title":"Quaternion kinematics for the error-state KF","author":"Sola","year":"2012"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2023.3314275"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TMC.2020.3035511"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.887293"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/TIT.2006.883539"},{"key":"ref38","volume-title":"Introduction to Probability","volume":"1","author":"Bertsekas","year":"2008"},{"issue":"172","key":"ref39","first-page":"1","article-title":"Convergence analysis of distributed inference with vector-valued gaussian belief propagation","volume":"18","author":"Du","year":"2017","journal-title":"J. Mach. Learn. Res."},{"key":"ref40","article-title":"FutureMapping 2: Gaussian belief propagation for spatial AI","author":"Davison","year":"2019","journal-title":"arXiv:1910.14139"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2022.3174479"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2021.3098739"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911398404"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21620"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3454430"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3279614"}],"container-title":["IEEE Internet of Things Journal"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/6488907\/11177626\/11083533.pdf?arnumber=11083533","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,17]],"date-time":"2026-02-17T21:09:49Z","timestamp":1771362589000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11083533\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,1]]},"references-count":46,"journal-issue":{"issue":"19"},"URL":"https:\/\/doi.org\/10.1109\/jiot.2025.3590022","relation":{},"ISSN":["2327-4662","2372-2541"],"issn-type":[{"value":"2327-4662","type":"electronic"},{"value":"2372-2541","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,10,1]]}}}