{"id":"https://openalex.org/W233447455","doi":null,"title":"A note on the limitations of ZUPTs and the implications on sensor error modeling","display_name":"A note on the limitations of ZUPTs and the implications on sensor error modeling","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W233447455","mag":"233447455"},"language":"en","primary_location":{"id":"pmh:oai:DiVA.org:kth-107409","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-107409","pdf_url":null,"source":{"id":"https://openalex.org/S4306400653","display_name":"Diva portal (Dalarna University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-107409","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045616039","display_name":"John-Olof Nilsson","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"John-Olof Nilsson","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057769293","display_name":"Isaac Skog","orcid":"https://orcid.org/0000-0002-3054-6413","observed_orcids":["https://orcid.org/0000-0002-3054-6413"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Isaac Skog","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-3054-6413","affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024989358","display_name":"Peter H\u00e4ndel","orcid":"https://orcid.org/0000-0002-2718-0262","observed_orcids":["https://orcid.org/0000-0002-2718-0262"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Peter H\u00e4ndel","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-2718-0262","affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":12.1583,"has_fulltext":false,"cited_by_count":101,"citation_normalized_percentile":{"value":0.99521692,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.0031999999191612005,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.0003000000142492354,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/zero-velocity-update","display_name":"zero velocity update","score":0.9869999885559082},{"id":"https://openalex.org/keywords/sensor-error-estimation","display_name":"sensor error estimation","score":0.4129999876022339},{"id":"https://openalex.org/keywords/model-error","display_name":"model error","score":0.37700000405311584}],"concepts":[{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.7187575101852417},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6050339937210083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5820797681808472},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.5011887550354004},{"id":"https://openalex.org/C100253034","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Systematic error","level":2,"score":0.44449812173843384},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.42672842741012573},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4079238474369049},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34452807903289795},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3354639410972595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2864980101585388},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26807326078414917},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.20893338322639465},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18213367462158203},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07427957653999329},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07242780923843384},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:DiVA.org:kth-107409","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-107409","pdf_url":null,"source":{"id":"https://openalex.org/S4306400653","display_name":"Diva portal (Dalarna University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"mag:233447455","doi":null,"is_oa":false,"landing_page_url":"http://swepub.kb.se/bib/swepub:oai:DiVA.org:kth-107409?language=en","pdf_url":null,"source":{"id":"https://openalex.org/S4306419529","display_name":"International Conference on Indoor Positioning and Indoor Navigation","issn_l":"2162-7347","issn":["2162-7347"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Indoor Positioning and Indoor Navigation","raw_type":null}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-107409","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-107409","pdf_url":null,"source":{"id":"https://openalex.org/S4306400653","display_name":"Diva portal (Dalarna University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1654568781","https://openalex.org/W2004814601","https://openalex.org/W2056427752","https://openalex.org/W2081833615","https://openalex.org/W2083754578","https://openalex.org/W2083821388","https://openalex.org/W2124647600","https://openalex.org/W2148181174","https://openalex.org/W2149675336"],"related_works":["https://openalex.org/W2118306368","https://openalex.org/W2901356811","https://openalex.org/W2980887327","https://openalex.org/W2900030073","https://openalex.org/W3035545064","https://openalex.org/W4392016544","https://openalex.org/W3201872583","https://openalex.org/W2534297607","https://openalex.org/W4312558115","https://openalex.org/W2072645338"],"abstract_inverted_index":{"The":[0],"limitations":[1],"of":[2],"zero-velocity-updates":[3],"(ZUPTs)":[4],"for":[5,30],"aiding":[6],"a":[7],"foot-mounted":[8,52],"inertial":[9,36],"navigation":[10],"system":[11],"(INS)":[12],"are":[13,23,39],"studied.":[14],"Multiple":[15],"significant":[16],"modeling":[17,46],"errors":[18,38],"related":[19],"to":[20,33],"the":[21,31],"ZUPTs":[22],"pointed":[24],"out":[25],"and":[26,41,47],"quantified.":[27],"Their":[28],"implications":[29],"possibility":[32],"estimate":[34],"systematic":[35],"sensor":[37],"discussed":[40],"it":[42],"is":[43],"argued":[44],"that":[45],"estimating":[48],"such":[49],"errors,":[50],"in":[51,58],"ZUPT-aided":[53],"INSs,":[54],"should":[55],"be":[56],"avoided":[57],"many":[59],"cases.":[60]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":3}],"updated_date":"2026-11-06T12:05:46.655746","created_date":"2016-06-24T00:00:00"}