{"id":"https://openalex.org/W3210113114","doi":"https://doi.org/10.1109/isie45552.2021.9576353","title":"Low-Cost Indoor Localization System Combining Multilateration and Kalman Filter","display_name":"Low-Cost Indoor Localization System Combining Multilateration and Kalman Filter","publication_year":2021,"publication_date":"2021-06-20","ids":{"openalex":"https://openalex.org/W3210113114","doi":"https://doi.org/10.1109/isie45552.2021.9576353","mag":"3210113114"},"language":"en","primary_location":{"id":"doi:10.1109/isie45552.2021.9576353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie45552.2021.9576353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10198/24205","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032685037","display_name":"Leonardo Sestrem","orcid":"https://orcid.org/0000-0002-9344-3075"},"institutions":[{"id":"https://openalex.org/I1283613182","display_name":"Universidade Tecnol\u00f3gica Federal do Paran\u00e1","ror":"https://ror.org/002v2kq79","country_code":"BR","type":"education","lineage":["https://openalex.org/I1283613182"]},{"id":"https://openalex.org/I4210092303","display_name":"Polytechnic Institute of Bragan\u00e7a","ror":"https://ror.org/00prsav78","country_code":"PT","type":"education","lineage":["https://openalex.org/I4210092303"]},{"id":"https://openalex.org/I4391767784","display_name":"Research Centre in Digitalization and Intelligent Robotics","ror":"https://ror.org/00vye5g85","country_code":"PT","type":"facility","lineage":["https://openalex.org/I4391767784"]}],"countries":["BR","PT"],"is_corresponding":true,"raw_author_name":"Leonardo Sestrem De Oliveira","raw_affiliation_strings":["Universidade Tecnologica Federal do Parana (UTFPR), Campus Curitiba,Parana,Brazil","Universidade Tecnologica Federal do Parana (UTFPR), Campus Curitiba, Parana, Brazil","Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politecnico de Braganca, Campus de Santa, Apolonia, Braganca, Portugal"],"affiliations":[{"raw_affiliation_string":"Universidade Tecnologica Federal do Parana (UTFPR), Campus Curitiba,Parana,Brazil","institution_ids":["https://openalex.org/I1283613182"]},{"raw_affiliation_string":"Universidade Tecnologica Federal do Parana (UTFPR), Campus Curitiba, Parana, Brazil","institution_ids":["https://openalex.org/I1283613182"]},{"raw_affiliation_string":"Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politecnico de Braganca, Campus de Santa, Apolonia, Braganca, Portugal","institution_ids":["https://openalex.org/I4210092303","https://openalex.org/I4391767784"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004228037","display_name":"Ohara Kerusauskas Rayel","orcid":"https://orcid.org/0000-0002-9543-9811"},"institutions":[{"id":"https://openalex.org/I1283613182","display_name":"Universidade Tecnol\u00f3gica Federal do Paran\u00e1","ror":"https://ror.org/002v2kq79","country_code":"BR","type":"education","lineage":["https://openalex.org/I1283613182"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Ohara Kerusauskas Rayel","raw_affiliation_strings":["Universidade Tecnologica Federal do Parana (UTFPR), Campus Curitiba,Parana,Brazil","Universidade Tecnologica Federal do Parana (UTFPR), Campus Curitiba, Parana, Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Tecnologica Federal do Parana (UTFPR), Campus Curitiba,Parana,Brazil","institution_ids":["https://openalex.org/I1283613182"]},{"raw_affiliation_string":"Universidade Tecnologica Federal do Parana (UTFPR), Campus Curitiba, Parana, Brazil","institution_ids":["https://openalex.org/I1283613182"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090724883","display_name":"Paulo Leit\u00e3o","orcid":"https://orcid.org/0000-0002-2151-7944"},"institutions":[{"id":"https://openalex.org/I4210092303","display_name":"Polytechnic Institute of Bragan\u00e7a","ror":"https://ror.org/00prsav78","country_code":"PT","type":"education","lineage":["https://openalex.org/I4210092303"]},{"id":"https://openalex.org/I4391767784","display_name":"Research Centre in Digitalization and Intelligent Robotics","ror":"https://ror.org/00vye5g85","country_code":"PT","type":"facility","lineage":["https://openalex.org/I4391767784"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Paulo Leitao","raw_affiliation_strings":["Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politecnico de Braganca, Campus de Santa,Apolonia,Braganca,Portugal,5300-253"],"affiliations":[{"raw_affiliation_string":"Research Centre in Digitalization and Intelligent Robotics (CeDRI), Instituto Politecnico de Braganca, Campus de Santa,Apolonia,Braganca,Portugal,5300-253","institution_ids":["https://openalex.org/I4210092303","https://openalex.org/I4391767784"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5032685037"],"corresponding_institution_ids":["https://openalex.org/I1283613182","https://openalex.org/I4210092303","https://openalex.org/I4391767784"],"apc_list":null,"apc_paid":null,"fwci":1.2201,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.79191113,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T12801","display_name":"Bluetooth and Wireless Communication Technologies","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.9775000214576721,"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/multilateration","display_name":"Multilateration","score":0.8339154720306396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7544090747833252},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.712736189365387},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.6117616295814514},{"id":"https://openalex.org/keywords/indoor-positioning-system","display_name":"Indoor positioning system","score":0.5789508819580078},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5201828479766846},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.49823927879333496},{"id":"https://openalex.org/keywords/positioning-system","display_name":"Positioning system","score":0.4899114966392517},{"id":"https://openalex.org/keywords/bluetooth","display_name":"Bluetooth","score":0.45648902654647827},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4358679950237274},{"id":"https://openalex.org/keywords/beacon","display_name":"Beacon","score":0.42882147431373596},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41639912128448486},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.34525275230407715},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.2281413972377777},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.175959974527359},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.10511612892150879},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09783047437667847}],"concepts":[{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.8339154720306396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7544090747833252},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.712736189365387},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.6117616295814514},{"id":"https://openalex.org/C2777486483","wikidata":"https://www.wikidata.org/wiki/Q6026477","display_name":"Indoor positioning system","level":3,"score":0.5789508819580078},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5201828479766846},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.49823927879333496},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.4899114966392517},{"id":"https://openalex.org/C546215728","wikidata":"https://www.wikidata.org/wiki/Q39531","display_name":"Bluetooth","level":3,"score":0.45648902654647827},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4358679950237274},{"id":"https://openalex.org/C102168758","wikidata":"https://www.wikidata.org/wiki/Q7321258","display_name":"Beacon","level":2,"score":0.42882147431373596},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41639912128448486},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.34525275230407715},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.2281413972377777},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.175959974527359},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.10511612892150879},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09783047437667847},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/isie45552.2021.9576353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie45552.2021.9576353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","raw_type":"proceedings-article"},{"id":"pmh:oai:bibliotecadigital.ipb.pt:10198/24205","is_oa":true,"landing_page_url":"http://hdl.handle.net/10198/24205","pdf_url":null,"source":{"id":"https://openalex.org/S4306400634","display_name":"Biblioteca Digital do IPB (Instituto Politecnico De Braganca)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210092303","host_organization_name":"Polytechnic Institute of Bragan\u00e7a","host_organization_lineage":["https://openalex.org/I4210092303"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":{"id":"pmh:oai:bibliotecadigital.ipb.pt:10198/24205","is_oa":true,"landing_page_url":"http://hdl.handle.net/10198/24205","pdf_url":null,"source":{"id":"https://openalex.org/S4306400634","display_name":"Biblioteca Digital do IPB (Instituto Politecnico De Braganca)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210092303","host_organization_name":"Polytechnic Institute of Bragan\u00e7a","host_organization_lineage":["https://openalex.org/I4210092303"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G7956726550","display_name":null,"funder_award_id":"UIDB/05757/2020","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"}],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W595252221","https://openalex.org/W1893431417","https://openalex.org/W2048756407","https://openalex.org/W2068849277","https://openalex.org/W2073708166","https://openalex.org/W2100989187","https://openalex.org/W2122915435","https://openalex.org/W2161955777","https://openalex.org/W2241665719","https://openalex.org/W2520656080","https://openalex.org/W2557998141","https://openalex.org/W2564566221","https://openalex.org/W2610335499","https://openalex.org/W2623158358","https://openalex.org/W2625026524","https://openalex.org/W2779673798","https://openalex.org/W2781500483","https://openalex.org/W2806729898","https://openalex.org/W2964029185","https://openalex.org/W3038986007"],"related_works":["https://openalex.org/W4313213593","https://openalex.org/W2518860590","https://openalex.org/W3136975152","https://openalex.org/W2955333429","https://openalex.org/W3016046519","https://openalex.org/W2101178385","https://openalex.org/W2770244042","https://openalex.org/W2422052711","https://openalex.org/W2982048141","https://openalex.org/W2035650171"],"abstract_inverted_index":{"Indoor":[0],"localization":[1,68],"systems":[2,26],"play":[3],"an":[4,95,109,119],"important":[5],"role":[6],"to":[7,18,32,77],"track":[8],"objects":[9],"during":[10],"their":[11],"life-cycle":[12],"in":[13,94],"indoor":[14,96],"environments,":[15],"e.g.,":[16],"related":[17],"retail,":[19],"logistics":[20],"and":[21,30,39,53,73],"mobile":[22],"robotics.":[23],"These":[24],"positioning":[25],"use":[27],"several":[28,41],"techniques":[29,76],"technologies":[31],"estimate":[33],"the":[34,99,112],"position":[35,45,86,114],"of":[36,49,61,111,122],"each":[37],"object,":[38],"face":[40],"requirements":[42],"such":[43],"as":[44],"accuracy,":[46],"security,":[47],"range":[48],"coverage,":[50],"energy":[51],"consumption":[52],"cost.":[54],"This":[55],"paper":[56],"describes":[57],"a":[58,62,79,84,103],"practical":[59],"implementation":[60],"BLE":[63],"(Bluetooth":[64],"Low":[65],"Energy)":[66],"based":[67],"system":[69,107],"that":[70],"combines":[71],"multilateration":[72],"Kalman":[74],"filter":[75],"achieve":[78],"low":[80,105],"cost":[81,106],"solution,":[82],"maintaining":[83],"good":[85],"accuracy.":[87],"The":[88],"proposed":[89],"approach":[90],"was":[91],"experimentally":[92],"tested":[93],"environment,":[97],"with":[98],"achieved":[100],"results":[101],"showing":[102],"clear":[104],"presenting":[108],"increase":[110],"estimated":[113],"accuracy":[115],"by":[116],"10%":[117],"for":[118],"average":[120],"error":[121],"2.33":[123],"meters.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3}],"updated_date":"2026-04-23T09:07:50.710637","created_date":"2025-10-10T00:00:00"}