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Grant support

This research was partially supported by the DGA/AID project 2019.65.0068.00.470.75.01. and the German Federal Ministry of Economic Affairs and Economy (BMWi) under the projects LAESSI (03SX402D) and SCIPPPER (03SX470E).

Analysis of institutional authors

Garcia, JesusAuthor
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Article

On the Recursive Joint Position and Attitude Determination in Multi-Antenna GNSS Platforms

Publicated to:Remote Sensing. 12 (12): 1955- - 2020-06-01 12(12), DOI: 10.3390/rs12121955

Authors: Medina, Daniel; Vila-Valls, Jordi; Hesselbarth, Anja; Ziebold, Ralf; Garcia, Jesus

Affiliations

German Aerosp Ctr DLR, Inst Commun & Nav, D-17235 Neustrelitz, Germany - Author
Tech Univ Dresden, Geodat Inst, D-01062 Dresden, Germany - Author
Univ Carlos III Madrid, Comp Sci & Engn Dept, Madrid 28911, Spain - Author
Univ Toulouse, ISAE SUPAERO, F-31055 Toulouse, France - Author

Abstract

Global Navigation Satellite Systems' (GNSS) carrier phase observations are fundamental in the provision of precise navigation for modern applications in intelligent transport systems. Differential precise positioning requires the use of a base station nearby the vehicle location, while attitude determination requires the vehicle to be equipped with a setup of multiple GNSS antennas. In the GNSS context, positioning and attitude determination have been traditionally tackled in a separate manner, thus losing valuable correlated information, and for the latter only in batch form. The main goal of this contribution is to shed some light on the recursive joint estimation of position and attitude in multi-antenna GNSS platforms. We propose a new formulation for the joint positioning and attitude (JPA) determination using quaternion rotations. A Bayesian recursive formulation for JPA is proposed, for which we derive a Kalman filter-like solution. To support the discussion and assess the performance of the new JPA, the proposed methodology is compared to standard approaches with actual data collected from a dynamic scenario under the influence of severe multipath effects.

Keywords
Attitude determinationGnssGpsKalman filteringQuaternion rotationRtk positioning

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Remote Sensing due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2020, it was in position 27/200, thus managing to position itself as a Q1 (Primer Cuartil), in the category Geosciences, Multidisciplinary.

From a relative perspective, and based on the normalized impact indicator calculated from World Citations provided by WoS (ESI, Clarivate), it yields a value for the citation normalization relative to the expected citation rate of: 1.01. This indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: ESI Nov 14, 2024)

This information is reinforced by other indicators of the same type, which, although dynamic over time and dependent on the set of average global citations at the time of their calculation, consistently position the work at some point among the top 50% most cited in its field:

  • Field Citation Ratio (FCR) from Dimensions: 6.48 (source consulted: Dimensions May 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-05-02, the following number of citations:

  • WoS: 18
  • Scopus: 25
  • OpenCitations: 19
Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-05-02:

  • The use, from an academic perspective evidenced by the Altmetric agency indicator referring to aggregations made by the personal bibliographic manager Mendeley, gives us a total of: 9.
  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 9 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

  • The Total Score from Altmetric: 1.25.
  • The number of mentions on the social network X (formerly Twitter): 1 (Altmetric).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.
Leadership analysis of institutional authors

This work has been carried out with international collaboration, specifically with researchers from: France; Germany.

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: Last Author (García Mesa, Jesús Santiago).