{"id":"https://openalex.org/W4285817141","doi":"https://doi.org/10.1109/icrca55033.2022.9829003","title":"Crawler Robot Indoor Positioning Based on a Combination of Bluetooth and IMU","display_name":"Crawler Robot Indoor Positioning Based on a Combination of Bluetooth and IMU","publication_year":2022,"publication_date":"2022-02-26","ids":{"openalex":"https://openalex.org/W4285817141","doi":"https://doi.org/10.1109/icrca55033.2022.9829003"},"language":"en","primary_location":{"id":"doi:10.1109/icrca55033.2022.9829003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icrca55033.2022.9829003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 6th International Conference on Robotics, Control and Automation (ICRCA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5108057378","display_name":"Li Luo","orcid":"https://orcid.org/0000-0002-2413-2257"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Luo","raw_affiliation_strings":["Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing,Shenyang,China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing,Shenyang,China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101916535","display_name":"Feng Zhang","orcid":"https://orcid.org/0000-0003-0760-7983"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang Feng","raw_affiliation_strings":["Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing,Shenyang,China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing,Shenyang,China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wang Hong-Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Hong-Wei","raw_affiliation_strings":["Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing,Shenyang,China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing,Shenyang,China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070903796","display_name":"Long Cui","orcid":"https://orcid.org/0000-0003-4107-8093"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cui Long","raw_affiliation_strings":["Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing,Shenyang,China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing,Shenyang,China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"34","last_page":"39"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9973999857902527,"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":0.9954000115394592,"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/heading","display_name":"Heading (navigation)","score":0.8684549927711487},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7646812796592712},{"id":"https://openalex.org/keywords/bluetooth","display_name":"Bluetooth","score":0.6797780990600586},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6202818155288696},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5948259830474854},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.5841430425643921},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.5772910118103027},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5595065355300903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5410491228103638},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5274810194969177},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5003468990325928},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49386030435562134},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.49082836508750916},{"id":"https://openalex.org/keywords/indoor-positioning-system","display_name":"Indoor positioning system","score":0.4703407883644104},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4577961564064026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4504741132259369},{"id":"https://openalex.org/keywords/web-crawler","display_name":"Web crawler","score":0.41855138540267944},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.404915988445282},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3670489192008972},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.30223238468170166},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23547989130020142},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.21650245785713196},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.11326637864112854},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08829355239868164}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.8684549927711487},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7646812796592712},{"id":"https://openalex.org/C546215728","wikidata":"https://www.wikidata.org/wiki/Q39531","display_name":"Bluetooth","level":3,"score":0.6797780990600586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6202818155288696},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5948259830474854},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.5841430425643921},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.5772910118103027},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5595065355300903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5410491228103638},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5274810194969177},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5003468990325928},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49386030435562134},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.49082836508750916},{"id":"https://openalex.org/C2777486483","wikidata":"https://www.wikidata.org/wiki/Q6026477","display_name":"Indoor positioning system","level":3,"score":0.4703407883644104},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4577961564064026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4504741132259369},{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.41855138540267944},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.404915988445282},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3670489192008972},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.30223238468170166},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23547989130020142},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.21650245785713196},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.11326637864112854},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08829355239868164},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icrca55033.2022.9829003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icrca55033.2022.9829003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 6th International Conference on Robotics, Control and Automation (ICRCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1499645321","https://openalex.org/W2296816139","https://openalex.org/W2771432945","https://openalex.org/W2808657069","https://openalex.org/W2810267556","https://openalex.org/W2870699904","https://openalex.org/W2894293610","https://openalex.org/W2897627772","https://openalex.org/W2946331101","https://openalex.org/W2950364287","https://openalex.org/W2979302956","https://openalex.org/W3000004788","https://openalex.org/W3167730326","https://openalex.org/W6796485613"],"related_works":["https://openalex.org/W1572218428","https://openalex.org/W2331134302","https://openalex.org/W2105467265","https://openalex.org/W1982957306","https://openalex.org/W2098659692","https://openalex.org/W3005892436","https://openalex.org/W2069229008","https://openalex.org/W2141674674","https://openalex.org/W2358256220","https://openalex.org/W2008882664"],"abstract_inverted_index":{"Aiming":[0],"at":[1,113],"the":[2,34,42,48,63,68,103,110,114,122],"indoor":[3],"positioning":[4,10,38,89,98,127],"problem":[5],"of":[6,16,109],"micro-crawler":[7],"robots,":[8],"a":[9,14],"method":[11,27,92,124],"based":[12],"on":[13],"combination":[15],"Bluetooth,":[17],"gyroscope,":[18],"accelerometer,":[19],"magnetometer":[20,46],"and":[21,45,52,73,80,106,137],"other":[22],"sensors":[23],"is":[24],"designed.":[25],"This":[26,91],"takes":[28],"inertial":[29],"navigation":[30],"system":[31],"(INS)":[32],"as":[33,41,47],"core,":[35],"Bluetooth":[36],"AOA":[37],"base":[39],"station":[40],"position":[43],"observation,":[44,51],"heading":[49,107],"angle":[50,108],"builds":[53],"error":[54,132,139],"state":[55],"Extended":[56],"Kalman":[57],"Filter":[58],"(EKF)":[59],"algorithm":[60,86],"framework.":[61],"At":[62],"same":[64,115],"time,":[65],"it":[66],"adopts":[67],"Zero":[69,74],"Velocity":[70],"Update":[71],"(ZUPT)":[72],"Integrated":[75],"Heading":[76],"Rate":[77],"(ZIHR)":[78],"technology,":[79],"Rauch":[81],"Rung":[82],"Streiber":[83],"(RTS)":[84],"smoothing":[85],"to":[87],"improve":[88],"accuracy.":[90],"can":[93,125],"not":[94],"only":[95],"provide":[96],"continuous":[97],"results,":[99],"but":[100],"also":[101],"obtain":[102],"horizontal":[104,131],"attitude":[105],"crawler":[111],"robot":[112],"time.":[116],"The":[117],"experimental":[118],"results":[119],"show":[120],"that":[121],"proposed":[123],"achieve":[126],"accuracy":[128],"with":[129],"average":[130],"less":[133,140],"than":[134,141],"0.04":[135],"m":[136],"maximum":[138],"0.1":[142],"m.":[143]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}