{"id":"https://openalex.org/W2962717121","doi":"https://doi.org/10.1109/icra.2017.7989660","title":"Cooperative relative positioning of mobile users by fusing IMU inertial and UWB ranging information","display_name":"Cooperative relative positioning of mobile users by fusing IMU inertial and UWB ranging information","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2962717121","doi":"https://doi.org/10.1109/icra.2017.7989660","mag":"2962717121"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989660","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","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/A5100448104","display_name":"Ran Liu","orcid":"https://orcid.org/0000-0002-6343-4645"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ran Liu","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060020877","display_name":"Chau Yuen","orcid":"https://orcid.org/0000-0002-9307-2120"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chau Yuen","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012274976","display_name":"Tri-Nhut Do","orcid":null},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tri-Nhut Do","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016234046","display_name":"Dewei Jiao","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dewei Jiao","raw_affiliation_strings":["School of Software and Microelectronics, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software and Microelectronics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100408604","display_name":"Xiang Liu","orcid":"https://orcid.org/0000-0002-2634-1888"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Liu","raw_affiliation_strings":["School of Software and Microelectronics, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software and Microelectronics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023142347","display_name":"U-Xuan Tan","orcid":"https://orcid.org/0000-0002-5757-1379"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"U-Xuan Tan","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.3856,"has_fulltext":false,"cited_by_count":74,"citation_normalized_percentile":{"value":0.95046317,"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":"5623","last_page":"5629"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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":1.0,"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":0.9932000041007996,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/ranging","display_name":"Ranging","score":0.9141309857368469},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8796771168708801},{"id":"https://openalex.org/keywords/trilateration","display_name":"Trilateration","score":0.7565841674804688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7149550318717957},{"id":"https://openalex.org/keywords/ultra-wideband","display_name":"Ultra-wideband","score":0.6215996742248535},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.523271918296814},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4322396218776703},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3610745072364807},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3315771818161011},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18719157576560974},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.17325979471206665}],"concepts":[{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.9141309857368469},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8796771168708801},{"id":"https://openalex.org/C20832178","wikidata":"https://www.wikidata.org/wiki/Q1146298","display_name":"Trilateration","level":3,"score":0.7565841674804688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7149550318717957},{"id":"https://openalex.org/C21916231","wikidata":"https://www.wikidata.org/wiki/Q851424","display_name":"Ultra-wideband","level":2,"score":0.6215996742248535},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.523271918296814},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4322396218776703},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3610745072364807},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3315771818161011},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18719157576560974},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.17325979471206665},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989660","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989660","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1518703880","https://openalex.org/W1551825541","https://openalex.org/W1668431610","https://openalex.org/W1981831056","https://openalex.org/W1994199818","https://openalex.org/W2011970787","https://openalex.org/W2034416530","https://openalex.org/W2037308216","https://openalex.org/W2050248496","https://openalex.org/W2058009772","https://openalex.org/W2090348833","https://openalex.org/W2102619686","https://openalex.org/W2120712855","https://openalex.org/W2124276153","https://openalex.org/W2140131490","https://openalex.org/W2143541915","https://openalex.org/W2162570249","https://openalex.org/W2166315077","https://openalex.org/W2168237427","https://openalex.org/W2290879060","https://openalex.org/W2419171443","https://openalex.org/W2526466046","https://openalex.org/W2549315536","https://openalex.org/W2557998141","https://openalex.org/W2586239898","https://openalex.org/W6630924310","https://openalex.org/W6730317259"],"related_works":["https://openalex.org/W3004316703","https://openalex.org/W2902993599","https://openalex.org/W3189461536","https://openalex.org/W2121815169","https://openalex.org/W2104043593","https://openalex.org/W4240182038","https://openalex.org/W3096811162","https://openalex.org/W2126864775","https://openalex.org/W4307330872","https://openalex.org/W3156095002"],"abstract_inverted_index":{"Relative":[0],"positioning":[1,69,137,173],"between":[2,138],"multiple":[3,139],"mobile":[4,54,140,168],"users":[5,55,141,169],"is":[6,26,41,63,107],"essential":[7],"for":[8,135],"many":[9],"applications,":[10],"such":[11],"as":[12],"search":[13],"and":[14,90,103,131,152,170,188],"rescue":[15],"in":[16,88],"disaster":[17],"areas":[18],"or":[19,77],"human":[20],"social":[21],"interaction.":[22],"Inertial-measurement":[23],"unit":[24],"(IMU)":[25],"promising":[27],"to":[28,44,65,75,85,127,162,180],"determine":[29,113],"the":[30,53,80,104,114,143,146,150,153,182],"change":[31],"of":[32,37,145,167,184],"position":[33,164],"over":[34,47],"short":[35],"periods":[36],"time,":[38],"but":[39],"it":[40,62],"very":[42],"sensitive":[43],"error":[45],"accumulation":[46],"long":[48],"term":[49],"run.":[50],"By":[51],"equipping":[52],"with":[56,87],"ranging":[57,133,190],"unit,":[58],"e.g.":[59],"ultra-wideband":[60],"(UWB),":[61],"possible":[64],"achieve":[66],"accurate":[67,92],"relative":[68,136],"by":[70],"trilateration-based":[71],"approaches.":[72],"As":[73],"compared":[74],"vision":[76],"laser-based":[78],"sensors,":[79],"UWB":[81,96,110,132,151,189],"does":[82,97],"not":[83,98],"need":[84],"be":[86],"line-of-sight":[89],"provides":[91],"distance":[93],"estimation.":[94],"However,":[95],"provide":[99],"any":[100,118],"bearing":[101],"information":[102],"communication":[105],"range":[106],"limited,":[108],"thus":[109],"alone":[111],"cannot":[112],"user":[115],"location":[116],"without":[117,142],"ambiguity.":[119],"In":[120],"this":[121],"paper,":[122],"we":[123],"propose":[124],"an":[125],"approach":[126],"combine":[128],"IMU":[129,154,186],"inertial":[130,187],"measurement":[134,155],"knowledge":[144],"infrastructure.":[147],"We":[148,175],"incorporate":[149],"into":[156],"a":[157,165],"probabilistic-based":[158],"framework,":[159],"which":[160],"allows":[161],"cooperatively":[163],"group":[166],"recover":[171],"from":[172],"failures.":[174],"have":[176],"conducted":[177],"extensive":[178],"experiments":[179],"demonstrate":[181],"benefits":[183],"incorporating":[185],"measurements.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
