{"id":"https://openalex.org/W4392016544","doi":"https://doi.org/10.1109/jsen.2024.3365979","title":"A Novel ESKF-Based ZUPT Using Midpoint Integration Approach for Indoor Pedestrian Navigation","display_name":"A Novel ESKF-Based ZUPT Using Midpoint Integration Approach for Indoor Pedestrian Navigation","publication_year":2024,"publication_date":"2024-02-21","ids":{"openalex":"https://openalex.org/W4392016544","doi":"https://doi.org/10.1109/jsen.2024.3365979"},"language":"en","primary_location":{"id":"doi:10.1109/jsen.2024.3365979","doi":"https://doi.org/10.1109/jsen.2024.3365979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2024.3365979","pdf_url":null,"source":{"id":"https://openalex.org/S189694085","display_name":"IEEE Sensors Journal","issn_l":"1530-437X","issn":["1530-437X","1558-1748","2379-9153"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-2","ki-jl-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310321027","host_organization_name":"IEEE Sensors Council","host_organization_lineage":["https://openalex.org/P4310321027","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Sensors Council","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Sensors Journal","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035901603","display_name":"Shangwu Yuan","orcid":"https://orcid.org/0000-0003-3672-7941","observed_orcids":["https://orcid.org/0000-0003-3672-7941"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shangwu Yuan","raw_affiliation_strings":["School of Aeronautic Science and Engineering and the Research Center of Small Sample Technology, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3672-7941","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering and the Research Center of Small Sample Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101881235","display_name":"Yongbo Zhang","orcid":"https://orcid.org/0000-0002-8730-8440","observed_orcids":["https://orcid.org/0000-0002-8730-8440","https://orcid.org/0009-0003-9385-2949"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongbo Zhang","raw_affiliation_strings":["School of Aeronautic Science and Engineering and the Research Center of Small Sample Technology, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8730-8440","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering and the Research Center of Small Sample Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047674112","display_name":"Yutong Shi","orcid":"https://orcid.org/0000-0003-2124-6774","observed_orcids":["https://orcid.org/0000-0003-2124-6774"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yutong Shi","raw_affiliation_strings":["School of Aeronautic Science and Engineering and the Research Center of Small Sample Technology, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2124-6774","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering and the Research Center of Small Sample Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071400557","display_name":"Zhonghan Li","orcid":"https://orcid.org/0000-0002-3910-0792","observed_orcids":["https://orcid.org/0000-0002-3910-0792"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhonghan Li","raw_affiliation_strings":["School of Aeronautic Science and Engineering and the Research Center of Small Sample Technology, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3910-0792","affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering and the Research Center of Small Sample Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":3.1499,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.92568422,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"24","issue":"7","first_page":"10920","last_page":"10932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9643999934196472,"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":0.9643999934196472,"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":0.030899999663233757,"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":0.0012000000569969416,"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":0.9580000042915344},{"id":"https://openalex.org/keywords/pedestrian-inertial-navigation","display_name":"pedestrian inertial navigation","score":0.8149999976158142},{"id":"https://openalex.org/keywords/error-state-kalman-filter","display_name":"error-state Kalman filter","score":0.9070000052452087},{"id":"https://openalex.org/keywords/indoor-pedestrian-navigation","display_name":"indoor pedestrian navigation","score":0.6209999918937683},{"id":"https://openalex.org/keywords/drift-reduction","display_name":"drift reduction","score":0.7039999961853027},{"id":"https://openalex.org/keywords/foot-mounted-imu","display_name":"foot-mounted IMU","score":0.7799999713897705},{"id":"https://openalex.org/keywords/pedestrian-pose-estimation","display_name":"pedestrian pose estimation","score":0.7929999828338623}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.6489453315734863},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5641535520553589},{"id":"https://openalex.org/C34130140","wikidata":"https://www.wikidata.org/wiki/Q1645406","display_name":"Midpoint","level":2,"score":0.5088301301002502},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43418341875076294},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4195058345794678},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.39041000604629517},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.32725751399993896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24720215797424316},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.23636692762374878},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17196819186210632},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12170296907424927},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jsen.2024.3365979","doi":"https://doi.org/10.1109/jsen.2024.3365979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsen.2024.3365979","pdf_url":null,"source":{"id":"https://openalex.org/S189694085","display_name":"IEEE Sensors Journal","issn_l":"1530-437X","issn":["1530-437X","1558-1748","2379-9153"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-c","jufo-2","ki-jl-2","norway-2","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310321027","host_organization_name":"IEEE Sensors Council","host_organization_lineage":["https://openalex.org/P4310321027","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Sensors Council","Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Sensors Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W605763459","https://openalex.org/W1654568781","https://openalex.org/W1896503986","https://openalex.org/W1993793087","https://openalex.org/W2004814601","https://openalex.org/W2008247673","https://openalex.org/W2014207207","https://openalex.org/W2024255528","https://openalex.org/W2056427752","https://openalex.org/W2077515918","https://openalex.org/W2088803835","https://openalex.org/W2092221283","https://openalex.org/W2092597637","https://openalex.org/W2108710146","https://openalex.org/W2113325920","https://openalex.org/W2115930333","https://openalex.org/W2118306368","https://openalex.org/W2120917188","https://openalex.org/W2124647600","https://openalex.org/W2153542846","https://openalex.org/W2468078839","https://openalex.org/W2608874196","https://openalex.org/W2726512962","https://openalex.org/W2768018028","https://openalex.org/W2833205538","https://openalex.org/W2897108732","https://openalex.org/W2905310404","https://openalex.org/W2997079954","https://openalex.org/W3047749420","https://openalex.org/W3080998939","https://openalex.org/W3136283225","https://openalex.org/W3145377020","https://openalex.org/W3192033659","https://openalex.org/W4226030141","https://openalex.org/W4308090794","https://openalex.org/W4319341461"],"related_works":["https://openalex.org/W2943367210","https://openalex.org/W2805183901","https://openalex.org/W3201872583","https://openalex.org/W2803094550","https://openalex.org/W3185912059","https://openalex.org/W2980887327","https://openalex.org/W4401990912","https://openalex.org/W3113295866","https://openalex.org/W3045768659","https://openalex.org/W3094754633"],"abstract_inverted_index":{"We":[0,75],"present":[1],"a":[2,116,125,136,139],"novel":[3],"pedestrian":[4,21],"inertial":[5,28],"navigation":[6],"system":[7,19,114,146,154,161],"(INS)":[8],"using":[9,23,155],"zero-velocity":[10,83],"update":[11],"(ZUPT)":[12],"and":[13,45,95,104,152],"error":[14,118,127,129],"state":[15,44],"Kalman":[16],"filtering.":[17],"Our":[18,107,145],"estimates":[20],"pose":[22],"only":[24],"data":[25],"from":[26],"an":[27],"measurement":[29],"unit":[30],"(IMU).":[31],"To":[32],"improve":[33,69],"accuracy,":[34],"we":[35,58],"use":[36],"midpoint":[37],"integration":[38],"approach":[39],"to":[40,67],"obtain":[41],"the":[42,60,70,73,153,156],"discrete":[43],"covariance":[46],"propagation":[47],"equations,":[48],"which":[49],"provide":[50],"more":[51],"accurate":[52],"predictions":[53],"than":[54,121],"Euler":[55],"integration.":[56],"Furthermore,":[57],"model":[59],"slowly":[61],"varying":[62],"IMU":[63,109],"biases":[64],"over":[65],"time":[66],"further":[68],"accuracy":[71],"of":[72,119,131,142],"system.":[74],"also":[76],"construct":[77],"five":[78],"observation":[79,99],"constraints":[80,100,158],"based":[81],"on":[82],"states,":[84],"including":[85],"zero":[86,88,90],"acceleration,":[87],"angular,":[89],"velocity,":[91],"heuristic":[92],"drift":[93,103],"reduction,":[94],"planar":[96],"constraints.":[97],"These":[98],"effectively":[101],"control":[102],"divergence":[105],"problems.":[106],"foot-mounted":[108],"experiments":[110],"show":[111],"that":[112],"our":[113,160],"achieves":[115],"positioning":[117,126],"less":[120],"1":[122],"m":[123,133],"with":[124,138],"root-mean-square":[128],"(RMSE)":[130],"0.23":[132],"when":[134],"circumnavigating":[135],"circle":[137],"total":[140],"distance":[141],"100":[143],"m.":[144],"outperforms":[147],"both":[148],"na\u00efve":[149],"ZUPT-aided":[150],"INS":[151],"same":[157],"as":[159],"before.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":2}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2024-02-22T00:00:00"}