{"id":"https://openalex.org/W2053823895","doi":"https://doi.org/10.1109/ipin.2012.6418861","title":"A robust pedestrian navigation algorithm with low cost IMU","display_name":"A robust pedestrian navigation algorithm with low cost IMU","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2053823895","doi":"https://doi.org/10.1109/ipin.2012.6418861","mag":"2053823895"},"language":"en","primary_location":{"id":"doi:10.1109/ipin.2012.6418861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin.2012.6418861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN)","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/A5101517226","display_name":"Yan Li","orcid":"https://orcid.org/0000-0001-6682-0456"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Yan Li","raw_affiliation_strings":["Faculty of Engineering and Information Technology, University of Technology, Sydney, Ultimo, NSW, Australia","Faculty of Engineering and Information Technology, University of Technology, Sydney (UTS) PO Box 123 Broadway, Ultimo, NSW 2007, Australia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Information Technology, University of Technology, Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Faculty of Engineering and Information Technology, University of Technology, Sydney (UTS) PO Box 123 Broadway, Ultimo, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100336337","display_name":"Jianguo Wang","orcid":"https://orcid.org/0000-0002-6282-0456"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jianguo Jack Wang","raw_affiliation_strings":["Faculty of Engineering and Information Technology, University of Technology, Sydney, Ultimo, NSW, Australia","Faculty of Engineering and Information Technology, University of Technology, Sydney (UTS) PO Box 123 Broadway, Ultimo, NSW 2007, Australia"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Information Technology, University of Technology, Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Faculty of Engineering and Information Technology, University of Technology, Sydney (UTS) PO Box 123 Broadway, Ultimo, NSW 2007, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101517226"],"corresponding_institution_ids":["https://openalex.org/I114017466"],"apc_list":null,"apc_paid":null,"fwci":1.2483,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.81772036,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"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":0.9998999834060669,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9933000206947327,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7887241840362549},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.7618429660797119},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.6661797761917114},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5911012291908264},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5754840970039368},{"id":"https://openalex.org/keywords/step-detection","display_name":"Step detection","score":0.5490831732749939},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.5296820402145386},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5259236097335815},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5051630139350891},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.478414386510849},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.47786420583724976},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.44168123602867126},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.43490564823150635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4207218587398529},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4173821210861206},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4147574305534363},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32529592514038086},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27402248978614807},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.18829819560050964},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07738906145095825},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07587382197380066}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7887241840362549},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7618429660797119},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.6661797761917114},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5911012291908264},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5754840970039368},{"id":"https://openalex.org/C293773","wikidata":"https://www.wikidata.org/wiki/Q7608015","display_name":"Step detection","level":3,"score":0.5490831732749939},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.5296820402145386},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5259236097335815},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5051630139350891},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.478414386510849},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.47786420583724976},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.44168123602867126},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.43490564823150635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4207218587398529},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4173821210861206},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4147574305534363},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32529592514038086},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27402248978614807},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.18829819560050964},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07738906145095825},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07587382197380066},{"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/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.0},{"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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":2,"locations":[{"id":"doi:10.1109/ipin.2012.6418861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ipin.2012.6418861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN)","raw_type":"proceedings-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/32325","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/32325","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W80737848","https://openalex.org/W1976297078","https://openalex.org/W1993793087","https://openalex.org/W2004814601","https://openalex.org/W2056201856","https://openalex.org/W2056427752","https://openalex.org/W2083821388","https://openalex.org/W2118676906","https://openalex.org/W2121299011","https://openalex.org/W2122180522","https://openalex.org/W2130640215","https://openalex.org/W2154356205","https://openalex.org/W2155370000","https://openalex.org/W2156499774","https://openalex.org/W2159017659","https://openalex.org/W2163424174","https://openalex.org/W2170929959","https://openalex.org/W2183997724","https://openalex.org/W2535479414","https://openalex.org/W2608874196","https://openalex.org/W2954073283","https://openalex.org/W6678009683","https://openalex.org/W6682950055","https://openalex.org/W6889882076"],"related_works":["https://openalex.org/W2156963144","https://openalex.org/W1590923801","https://openalex.org/W3121466181","https://openalex.org/W2766759697","https://openalex.org/W2156308897","https://openalex.org/W1982606137","https://openalex.org/W2358256220","https://openalex.org/W2000747785","https://openalex.org/W2008882664","https://openalex.org/W2077515918"],"abstract_inverted_index":{"Zero":[0],"velocity":[1,27,108,129],"update":[2],"(ZUPT)":[3],"is":[4,113,143,151,207],"an":[5],"effective":[6],"way":[7],"for":[8,29,44,69,75,90,145,169,204],"pedestrian":[9,45,88],"navigation":[10,41,89,198],"in":[11,22],"a":[12,55,65,80,154,217],"GPS":[13],"(Global":[14],"Positioning":[15],"System)":[16],"denied":[17],"environment.":[18],"The":[19,162],"stance":[20,57,66,97,164],"phase":[21,58,67,98,165],"each":[23,117],"step":[24],"provides":[25],"zero":[26,62,107,128],"measurement":[28,160],"IMU":[30],"(Inertial":[31],"Measurement":[32],"Unit)":[33],"drift":[34],"correction.":[35],"Most":[36],"previous":[37],"research,":[38],"however,":[39],"gives":[40],"solutions":[42],"only":[43,213],"walking":[46,70,131,212],"but":[47],"not":[48,72],"running.":[49,76,95],"Compared":[50],"with":[51,59,153],"walking,":[52,91,170],"running":[53,171,205],"has":[54],"shorter":[56],"qualified":[60],"as":[61],"velocity.":[63],"Therefore":[64],"detector":[68,99,104,112,166],"may":[71],"be":[73,190],"capable":[74],"This":[77],"paper":[78],"presents":[79],"novel":[81],"ZUPT":[82,187],"algorithm":[83,188,203],"which":[84],"can":[85,125,189],"achieve":[86],"robust":[87],"stair":[92,173],"climbing,":[93],"and":[94,105,120,138,172,185],"Our":[96],"consists":[100],"of":[101,179,200,211,228],"one":[102],"footstep":[103,111],"two":[106],"detectors":[109],"(ZVDs).The":[110],"used":[114],"to":[115,209,224],"mark":[116],"new":[118],"step,":[119],"the":[121,147,180,197,201,226,229],"first":[122],"ZVD":[123,149],"(ZVD1)":[124],"successfully":[126,191],"detect":[127],"while":[130],"by":[132],"setting":[133],"thresholds":[134],"on":[135,158,216],"both":[136],"gyroscope":[137,159],"accelerometer":[139],"measurements.":[140],"While":[141],"ZVD1":[142],"failed":[144],"running,":[146],"second":[148],"(ZVD2)":[150],"introduced":[152],"relative":[155],"larger":[156],"threshold":[157],"only.":[161],"proposed":[163,202],"was":[167],"tested":[168],"climbing.":[174],"In":[175],"all":[176],"cases,":[177],"most":[178],"footsteps":[181],"are":[182,220],"detected":[183],"correctly":[184],"our":[186],"implemented.":[192],"Experimental":[193],"results":[194],"show":[195],"that":[196,210],"accuracy":[199],"cases":[206],"comparable":[208],"cases.":[214],"Tests":[215],"biped":[218],"robot":[219],"being":[221],"also":[222],"conducted":[223],"verify":[225],"effectiveness":[227],"algorithm.":[230]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}