{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T12:53:11Z","timestamp":1770987191404,"version":"3.50.1"},"reference-count":116,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"1","license":[{"start":{"date-parts":[[2017,1,1]],"date-time":"2017-01-01T00:00:00Z","timestamp":1483228800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"DOI":"10.13039\/501100001773","name":"University of New South Wales, Canberra, Australia","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001773","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Automat. Sci. Eng."],"published-print":{"date-parts":[[2017,1]]},"DOI":"10.1109\/tase.2016.2582752","type":"journal-article","created":{"date-parts":[[2016,7,13]],"date-time":"2016-07-13T20:39:51Z","timestamp":1468442391000},"page":"260-275","source":"Crossref","is-referenced-by-count":82,"title":["Visual\u2013Inertial Navigation Systems for Aerial Robotics: Sensor Fusion and Technology"],"prefix":"10.1109","volume":"14","author":[{"given":"Fendy","family":"Santoso","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthew A.","family":"Garratt","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sreenatha G.","family":"Anavatti","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","first-page":"3565","article-title":"A multi-state constraint Kalman filter for vision-aided inertial navigation","author":"mourikis","year":"2007","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907581"},{"key":"ref33","article-title":"An introduction to the Kalman filter","author":"welch","year":"1995"},{"key":"ref32","author":"\u00e5str\u00f6m","year":"1995","journal-title":"Adaptive Control"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1177\/02783649030227005"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1243\/0954410042794957"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta:20070096"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2012.12.003"},{"key":"ref35","first-page":"1","article-title":"Gaussian sum unscented Kalman filter with adaptive scaling parameters","author":"straka","year":"2011","journal-title":"Proc 14th Int Conf Inf Fusion"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509636"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.1997.554211"},{"key":"ref27","first-page":"340","article-title":"Federated filter for distributed navigation and tracking applications","author":"carlson","year":"2002","journal-title":"Proc 28th Annu Meeting CIGTF 21st Guid Test Symp"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1002\/0470045345"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.physd.2006.08.015"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/MAES.2005.1499276"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAIS.2013.6720538"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1017\/S0373463305003383"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-012-0112-4"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2206473"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2008.919009"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2012.10.008"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ACSSC.2005.1599940"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.2528\/PIERB11031504"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911410755"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/VETECF.2011.6092896"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2015.2398834"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2005.1458284"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/78.978396"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2009.5164258"},{"key":"ref54","author":"uhlmann","year":"2015","journal-title":"First-Hand The Unscented Transform"},{"key":"ref53","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1007\/978-3-642-10741-2_6","article-title":"TDoA based UAV localization using dual-EKF algorithm","volume":"2","author":"lee","year":"2009","journal-title":"Int J Control Autom"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/ASSPCC.2000.882463"},{"key":"ref40","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4471-4399-4","author":"carrillo","year":"2013","journal-title":"Quad Rotorcraft Control Vision-Based Hovering and Navigation"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-014-0059-0"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta:20070415"},{"key":"ref6","doi-asserted-by":"crossref","first-page":"4072","DOI":"10.3390\/s150204072","article-title":"Development and integration of a solar powered unmanned aerial vehicle and a wireless sensor network to monitor greenhouse gases","volume":"15","author":"malaver","year":"2015","journal-title":"SENSORS"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2015.2398316"},{"key":"ref8","first-page":"474","article-title":"Real-time 6DoF deck pose estimation and target tracking for landing an UAV in a cluttered shipboard environment using on-board vision","author":"lin","year":"2015","journal-title":"Proc IEEE Int Conf Mechatronics Autom (ICMA)"},{"key":"ref49","first-page":"1935","article-title":"An extended robust H infinity filter for nonlinear uncertain systems with constraints","author":"seo","year":"2005","journal-title":"Proc 44th IEEE Conf Decision Control Eur Control Conf"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225147"},{"key":"ref9","first-page":"1","article-title":"Unmanned aircraft systems for remote building inspection and monitoring","author":"eschmann","year":"2012","journal-title":"Proc 4th Eur Workshop Struct Health Monitoring"},{"key":"ref46","first-page":"1398","article-title":"Self adaptive particle filter","author":"soto","year":"2005","journal-title":"Proc 19th Int Joint Conf Artif Intell"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.924946"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/MED.2008.4602149"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.5772\/54869"},{"key":"ref42","first-page":"131","article-title":"Thrust estimation of quadrotor UAV using adaptive observer","author":"awan","year":"2011","journal-title":"Proc 11th Int Conf Control Autom Syst Gyeonggi-do South Korea"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6911(87)90021-1"},{"key":"ref44","article-title":"SLAM, fast SLAM, and Rao-Blackwellization","author":"bagnell","year":"2009","journal-title":"Statist Techn Robot"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/78.978374"},{"key":"ref73","first-page":"834","article-title":"LSD-SLAM: Large-scale direct monocular SLAM","author":"engel","year":"2014","journal-title":"Proc Eur Conf Comput Vis (ECCV)"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-013-0647-7"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1561\/2300000030"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2109210"},{"key":"ref76","first-page":"1355","article-title":"Monocular vision based autonomous navigation for a cost-effective MAV in GPS-denied environments","author":"sa","year":"2013","journal-title":"Proc IEEE\/ASME Int Conf Adv Intell Mechatron (AIM)"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2014.2322295"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126513"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.1998.710832"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907055"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/CARPI.2014.7030057"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2014.2357216"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.2478\/v10006-010-0051-1"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1002\/9781118287798"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630555"},{"key":"ref64","first-page":"16","article-title":"Fixed-lag smoothing results for linear dynamical systems","volume":"7","author":"moore","year":"1973","journal-title":"Austral Telecommun Res"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907385"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980267"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543478"},{"key":"ref68","first-page":"201","article-title":"Large-scale visual odometry for rough terrain","author":"konolige","year":"2011","journal-title":"Robotics Research"},{"key":"ref2","article-title":"Optimal control linear quadratic synthesis for an unconventional aircraft","author":"santoso","year":"2006","journal-title":"Proc 12th Australian International Aerospace Congress"},{"key":"ref69","doi-asserted-by":"crossref","first-page":"407","DOI":"10.1177\/0278364910388963","article-title":"Visual-inertial navigation, mapping and localization: A scalable real-time causal approach","volume":"30","author":"jones","year":"2011","journal-title":"Int J Robot Res"},{"key":"ref1","article-title":"Micro air vehicles—Toward a new dimension in flight","author":"mcmichael","year":"1997"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1109\/ICEEE.2010.5660247"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5649700"},{"key":"ref108","first-page":"60","article-title":"Infrared localisation for indoor UAVs","author":"kirchner","year":"2005","journal-title":"Proc 1st Int Conf Sens Technol Palmerston North New Zealand"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9281-4"},{"key":"ref107","first-page":"188","article-title":"Indoor localization of unmanned aerial vehicle based on passive UHF RFID systems","author":"choi","year":"2012","journal-title":"Proc 9th Int Conf Ubiquitous Robots Ambient Intell (URAI) Daejeon South Korea"},{"key":"ref93","article-title":"Bundle adjustment—A modern synthesis","author":"triggs","year":"2002","journal-title":"Vision Algorithms Theory and Practice"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.1109\/PLANS.2012.6236925"},{"key":"ref92","author":"hartley","year":"2011","journal-title":"Multiple View Geometry in Computer Vision"},{"key":"ref105","doi-asserted-by":"publisher","DOI":"10.1109\/ICIF.2007.4408174"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1002\/rob.10127"},{"key":"ref104","first-page":"484","article-title":"Online optimization of sensor trajectories for localization using TDOA measurements","author":"kaune","year":"2013","journal-title":"Proc 6th Int Conf Inf Fusion (Fusion)"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907079279"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2009.V.033"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912455954"},{"key":"ref111","doi-asserted-by":"publisher","DOI":"10.1109\/PLANS.2006.1650724"},{"key":"ref112","article-title":"Integrated low-altitude horizon-based aircraft attitude estimation algorithms using UV-filtered panoramic images and optic flow","author":"tehrani","year":"0","journal-title":"IEEE Trans Aerosp Electron Syst"},{"key":"ref110","doi-asserted-by":"publisher","DOI":"10.1049\/iet-com.2010.0112"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2162999"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2013.6564706"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363617"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631015"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s11119-012-9274-5"},{"key":"ref11","year":"2015","journal-title":"Civil Aviation Safety Authority UAV Camera Inside Outback Australia"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20239"},{"key":"ref13","first-page":"1","article-title":"Obstacle avoidance in cluttered environments using optic flow","author":"garratt","year":"2009","journal-title":"Proc Australasian Conf Robot Autom (ACRA) Sydney NSW Australia"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9310-3"},{"key":"ref15","first-page":"16","article-title":"An optic flow damped hover controller for an autonomous helicopter","author":"garratt","year":"2007","journal-title":"Proc 22nd Int UAV Syst Conf"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1307412"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1016\/j.imavis.2004.05.010"},{"key":"ref17","author":"ristic","year":"2004","journal-title":"Beyond the Kalman Filter Particle Filters for Tracking Applications"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2015.7237534"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/CCECE.2007.407"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2015.2498940"},{"key":"ref19","author":"evensen","year":"2007","journal-title":"Data Assimilation The Ensemble Kalman Filter"},{"key":"ref83","first-page":"221","article-title":"Axially displaced optical flow sensors for feasuring and controlling the landing height of a UAV","author":"chahl","year":"2013","journal-title":"Proc 15th Austral Int Aerosp Congr (AIAC)"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.1108\/IJIUS-01-2013-0008"},{"key":"ref113","first-page":"1","article-title":"Intelligent landing system for landing UAVs at unsurveyed airfields","author":"williams","year":"2012","journal-title":"Proc 28th Int Congr Aeronautical Sci"},{"key":"ref116","first-page":"1","article-title":"Biomimetic visual sensing and flight control","author":"barrows","year":"2002","journal-title":"Proc Bristol UAV Conf"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21574"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1038\/nrn872"},{"key":"ref89","first-page":"963","article-title":"Integration of GPS\/INS\/vision sensors to navigate unmanned aerial vehicles","volume":"38","author":"wang","year":"2008","journal-title":"Int Arch Photogramm Remote Sens Spat Inf Sci"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/ICMECH.2011.5971311"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2002.1145742"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2013.6564750"},{"key":"ref88","first-page":"1912","article-title":"Combining Zigbee and inertial sensors for quadrotor UAV indoor localization","author":"yu","year":"2013","journal-title":"Proc 10th IEEE Int Conf Control Autom (ICCA)"}],"container-title":["IEEE Transactions on Automation Science and Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8856\/7805318\/07511659.pdf?arnumber=7511659","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T11:39:14Z","timestamp":1641987554000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7511659\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,1]]},"references-count":116,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.1109\/tase.2016.2582752","relation":{},"ISSN":["1545-5955","1558-3783"],"issn-type":[{"value":"1545-5955","type":"print"},{"value":"1558-3783","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,1]]}}}