{"id":"https://openalex.org/W1542466602","doi":"https://doi.org/10.1109/icit.2015.7125605","title":"Evaluation of AHRS algorithms for inertial personal localization in industrial environments","display_name":"Evaluation of AHRS algorithms for inertial personal localization in industrial environments","publication_year":2015,"publication_date":"2015-03-01","ids":{"openalex":"https://openalex.org/W1542466602","doi":"https://doi.org/10.1109/icit.2015.7125605","mag":"1542466602"},"language":"en","primary_location":{"id":"doi:10.1109/icit.2015.7125605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit.2015.7125605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Industrial Technology (ICIT)","raw_type":"proceedings-article"},"type":"article","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/A5057552632","display_name":"Estefania Munoz Diaz","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Estefania Munoz Diaz","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Communications and Navigation Oberpfaffenhofen, Wessling, Germany","German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, 82234 Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Communications and Navigation Oberpfaffenhofen, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017459292","display_name":"Fabian de Ponte M\u00fcller","orcid":"https://orcid.org/0000-0002-2215-2174"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Fabian de Ponte Muller","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Communications and Navigation Oberpfaffenhofen, Wessling, Germany","German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, 82234 Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Communications and Navigation Oberpfaffenhofen, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086628786","display_name":"Antonio R. Jim\u00e9nez","orcid":"https://orcid.org/0000-0001-9771-1930"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I134820265","display_name":"Consejo Superior de Investigaciones Cient\u00edficas","ror":"https://ror.org/02gfc7t72","country_code":"ES","type":"funder","lineage":["https://openalex.org/I134820265"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Antonio R. Jimenez","raw_affiliation_strings":["Centre for Automation, Robotics (CAR) Consejo Superior de Investigaciones Cient\u00edficas (CSIC)- UPM Ctra, Madrid, Spain","Centre for Automation and Robotics (CAR), Consejo Superior de Investigaciones Cient\u00edficas (CSIC)-UPM, Ctra. Campo Real km 0.2, 28500 La Poveda, Arganda del Rey, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation, Robotics (CAR) Consejo Superior de Investigaciones Cient\u00edficas (CSIC)- UPM Ctra, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I134820265"]},{"raw_affiliation_string":"Centre for Automation and Robotics (CAR), Consejo Superior de Investigaciones Cient\u00edficas (CSIC)-UPM, Ctra. Campo Real km 0.2, 28500 La Poveda, Arganda del Rey, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I134820265"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091828119","display_name":"Francisco Zampella","orcid":"https://orcid.org/0000-0002-3691-9604"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I134820265","display_name":"Consejo Superior de Investigaciones Cient\u00edficas","ror":"https://ror.org/02gfc7t72","country_code":"ES","type":"funder","lineage":["https://openalex.org/I134820265"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francisco Zampella","raw_affiliation_strings":["Centre for Automation, Robotics (CAR) Consejo Superior de Investigaciones Cient\u00edficas (CSIC)- UPM Ctra, Madrid, Spain","Centre for Automation and Robotics (CAR), Consejo Superior de Investigaciones Cient\u00edficas (CSIC)-UPM, Ctra. Campo Real km 0.2, 28500 La Poveda, Arganda del Rey, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation, Robotics (CAR) Consejo Superior de Investigaciones Cient\u00edficas (CSIC)- UPM Ctra, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I134820265"]},{"raw_affiliation_string":"Centre for Automation and Robotics (CAR), Consejo Superior de Investigaciones Cient\u00edficas (CSIC)-UPM, Ctra. Campo Real km 0.2, 28500 La Poveda, Arganda del Rey, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I134820265"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057552632"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":2.762,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.90822402,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3412","last_page":"3417"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9997000098228455,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9902999997138977,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/attitude-and-heading-reference-system","display_name":"Attitude and heading reference system","score":0.9755655527114868},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4972684681415558},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4897897243499756},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.43617287278175354},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.43316948413848877},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.41170230507850647},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.4111078679561615},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40795794129371643},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3806946575641632},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3347223997116089},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29199105501174927},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.15760788321495056},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10854664444923401}],"concepts":[{"id":"https://openalex.org/C204114589","wikidata":"https://www.wikidata.org/wiki/Q4248887","display_name":"Attitude and heading reference system","level":3,"score":0.9755655527114868},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4972684681415558},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4897897243499756},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.43617287278175354},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.43316948413848877},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.41170230507850647},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.4111078679561615},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40795794129371643},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3806946575641632},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3347223997116089},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29199105501174927},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.15760788321495056},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10854664444923401},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icit.2015.7125605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icit.2015.7125605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Industrial Technology (ICIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:95765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ICIT.2015.7125605>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1964934429","https://openalex.org/W2005717879","https://openalex.org/W2046746659","https://openalex.org/W2093025542","https://openalex.org/W2106226434","https://openalex.org/W2108688391","https://openalex.org/W2121754060","https://openalex.org/W2125691646","https://openalex.org/W2134373387"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W4287084017","https://openalex.org/W3179745820","https://openalex.org/W2537790823","https://openalex.org/W2594666386","https://openalex.org/W2545638156","https://openalex.org/W2359095091","https://openalex.org/W2000754062"],"abstract_inverted_index":{"This":[0],"paper":[1,59,72],"presents":[2],"a":[3,109],"comparison":[4,52],"among":[5,53],"several":[6],"state-of-the-art":[7],"Attitude":[8],"and":[9,22,94,156],"Heading":[10],"Reference":[11],"Systems":[12],"(AHRS).":[13],"These":[14,117],"algorithms":[15,35,55,119,137],"can":[16],"be":[17,80],"used":[18,143],"for":[19],"3D":[20],"orientation":[21,92],"position":[23],"estimation":[24],"of":[25,32,37,75,85,91,97,101,130,134,151,159,166],"users":[26],"or":[27,149],"devices.":[28],"The":[29,51,132],"robust":[30],"performance":[31,74,90,133],"these":[33],"AHRS":[34,54,78,118,128,136],"is":[36,106],"paramount":[38],"importance,":[39],"specially":[40],"in":[41,57],"environments":[42],"with":[43,123],"potential":[44],"external":[45],"perturbations,":[46],"such":[47],"as":[48],"industrial":[49],"environments.":[50],"presented":[56],"this":[58,71],"also":[60,121],"includes":[61],"an":[62],"algorithm":[63,129],"recently":[64],"proposed":[65],"by":[66,108],"the":[67,73,76,83,89,95,104,124,135,141,152,157,160,164,167],"authors":[68],"(DLR-AHRS).":[69],"In":[70],"different":[77,99,112],"will":[79],"studied,":[81],"including":[82],"effect":[84,96],"magnetic":[86,154],"perturbations":[87,146],"on":[88,140],"estimation,":[93],"using":[98],"patterns":[100],"motion":[102],"when":[103],"sensor":[105],"carried":[107],"user":[110],"at":[111],"locations":[113],"(pocket,":[114],"foot/shoe,":[115],"hand).":[116],"are":[120],"compared":[122],"Kalman-based":[125],"commercially":[126],"available":[127],"Xsens.":[131],"depends":[138],"strongly":[139],"strategies":[142],"to":[144,162],"reject":[145],"(sudden":[147],"accelerations":[148],"deformations":[150],"Earth":[153],"field)":[155],"ability":[158],"systems":[161],"estimate":[163],"biases":[165],"gyroscopes.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
