{"id":"https://openalex.org/W2771189806","doi":"https://doi.org/10.1109/jbhi.2017.2780879","title":"Smartphone Orientation Estimation Algorithm Combining Kalman Filter With Gradient Descent","display_name":"Smartphone Orientation Estimation Algorithm Combining Kalman Filter With Gradient Descent","publication_year":2017,"publication_date":"2017-12-07","ids":{"openalex":"https://openalex.org/W2771189806","doi":"https://doi.org/10.1109/jbhi.2017.2780879","mag":"2771189806","pmid":"https://pubmed.ncbi.nlm.nih.gov/29990245"},"language":"en","primary_location":{"id":"doi:10.1109/jbhi.2017.2780879","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jbhi.2017.2780879","pdf_url":null,"source":{"id":"https://openalex.org/S2495854775","display_name":"IEEE Journal of Biomedical and Health Informatics","issn_l":"2168-2194","issn":["2168-2194","2168-2208"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Biomedical and Health Informatics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5070063809","display_name":"Seanglidet Yean","orcid":"https://orcid.org/0000-0001-5456-4037"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Seanglidet Yean","raw_affiliation_strings":["School of Computer Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-5456-4037","affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062087243","display_name":"Bu\u2010Sung Lee","orcid":"https://orcid.org/0000-0001-7828-7900"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Bu Sung Lee","raw_affiliation_strings":["School of Computer Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006146465","display_name":"Chai Kiat Yeo","orcid":"https://orcid.org/0000-0002-7618-1472"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chai Kiat Yeo","raw_affiliation_strings":["School of Computer Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008797392","display_name":"Chan Hua Vun","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chan Hua Vun","raw_affiliation_strings":["School of Computer Engineering, Nanyang Technological University, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072238230","display_name":"Hong Lye Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hong Lye Oh","raw_affiliation_strings":["School of Computer Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-8007-3151","affiliations":[{"raw_affiliation_string":"School of Computer Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":41.4677,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.99446811,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"22","issue":"5","first_page":"1421","last_page":"1433"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994000196456909,"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":0.9930999875068665,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7828909754753113},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.7483379244804382},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7389476895332336},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.7136029601097107},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6835484504699707},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5933582782745361},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.582499623298645},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.44313135743141174},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.44003283977508545},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4290889501571655},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38285911083221436},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12564873695373535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08382517099380493}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7828909754753113},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7483379244804382},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7389476895332336},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.7136029601097107},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6835484504699707},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5933582782745361},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.582499623298645},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.44313135743141174},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.44003283977508545},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4290889501571655},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38285911083221436},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12564873695373535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08382517099380493},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000068997","descriptor_name":"Smartphone","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000068997","descriptor_name":"Smartphone","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000068997","descriptor_name":"Smartphone","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000076251","descriptor_name":"Wearable Electronic Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012046","descriptor_name":"Rehabilitation","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012656","descriptor_name":"Self-Help Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012656","descriptor_name":"Self-Help Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012656","descriptor_name":"Self-Help Devices","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012815","descriptor_name":"Signal Processing, Computer-Assisted","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012815","descriptor_name":"Signal Processing, Computer-Assisted","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012815","descriptor_name":"Signal Processing, Computer-Assisted","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D061725","descriptor_name":"Accelerometry","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D061725","descriptor_name":"Accelerometry","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D061725","descriptor_name":"Accelerometry","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/jbhi.2017.2780879","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jbhi.2017.2780879","pdf_url":null,"source":{"id":"https://openalex.org/S2495854775","display_name":"IEEE Journal of Biomedical and Health Informatics","issn_l":"2168-2194","issn":["2168-2194","2168-2208"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Biomedical and Health Informatics","raw_type":"journal-article"},{"id":"pmid:29990245","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29990245","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE journal of biomedical and health informatics","raw_type":null},{"id":"pmh:oai:dr.ntu.edu.sg:10356/140000","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/140000","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[{"id":"https://openalex.org/G313487284","display_name":null,"funder_award_id":"M4081329.020","funder_id":"https://openalex.org/F4320320766","funder_display_name":"Nanyang Technological University"}],"funders":[{"id":"https://openalex.org/F4320320766","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W113836369","https://openalex.org/W1493330415","https://openalex.org/W1527786550","https://openalex.org/W1544660997","https://openalex.org/W2001882214","https://openalex.org/W2009221611","https://openalex.org/W2010092404","https://openalex.org/W2013996424","https://openalex.org/W2017068793","https://openalex.org/W2023012603","https://openalex.org/W2053087201","https://openalex.org/W2055217114","https://openalex.org/W2076980662","https://openalex.org/W2080607723","https://openalex.org/W2091032340","https://openalex.org/W2098949330","https://openalex.org/W2105910887","https://openalex.org/W2115930333","https://openalex.org/W2122093596","https://openalex.org/W2125691646","https://openalex.org/W2131808502","https://openalex.org/W2147711138","https://openalex.org/W2158764002","https://openalex.org/W2160146756","https://openalex.org/W2163203473","https://openalex.org/W2165528908","https://openalex.org/W2180144887","https://openalex.org/W2296432816","https://openalex.org/W2556864296","https://openalex.org/W6679745587","https://openalex.org/W6681544351"],"related_works":["https://openalex.org/W2356006086","https://openalex.org/W2545168295","https://openalex.org/W4234814094","https://openalex.org/W1973973903","https://openalex.org/W2365897603","https://openalex.org/W2156308897","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W4287084017","https://openalex.org/W3179745820"],"abstract_inverted_index":{"Availability":[0],"and":[1,21,97,118,137,163,171,204],"all-in-one":[2],"functionality":[3],"of":[4,23,51,63,84,133,151,201],"smartphones":[5,24],"have":[6,25],"become":[7],"a":[8,52,69,95],"multipurpose":[9],"personal":[10],"tool":[11],"to":[12,76,160,167],"improve":[13],"our":[14],"daily":[15],"life.":[16],"Recent":[17],"advancements":[18],"in":[19,32,42,54,88],"hardware":[20],"accessibility":[22],"spawn":[26],"huge":[27],"potential":[28],"for":[29,188,206],"assistive":[30],"healthcare,":[31],"particular":[33],"telerehabilitation.":[34],"However,":[35],"using":[36,110,181],"smartphone":[37],"sensors":[38,191],"face":[39],"certain":[40],"challenges,":[41],"particular,":[43],"accurate":[44],"orientation":[45,90,99,156],"estimation,":[46],"which":[47,102],"is":[48,61,131,158,186],"usually":[49],"less":[50],"problem":[53],"specialized":[55],"motion":[56,135,190],"tracking":[57,136],"sensor":[58],"devices.":[59],"Drift":[60],"one":[62],"the":[64,78,82,85,89,140,145,149,177,207],"challenges.":[65],"We":[66,114],"first":[67],"propose":[68,94],"simple":[70],"feedback":[71,141],"loop":[72,142],"complementary":[73],"filter":[74,106],"(CFF)":[75],"reduce":[77],"error":[79,146],"caused":[80,147],"by":[81,148],"integration":[83,150],"gyroscope's":[86],"data":[87],"estimation.":[91],"Next,":[92],"we":[93],"new":[96],"better":[98],"estimation":[100,157],"algorithm":[101,180],"combines":[103],"quaternion-based":[104],"kalman":[105],"with":[107],"corrector":[108],"estimates":[109],"gradient":[111],"descent":[112],"(KFGD).":[113],"then":[115],"evaluate":[116],"CFF's":[117],"KFGD's":[119],"performance":[120],"on":[121],"two":[122],"early-stage":[123],"rehabilitation":[124],"exercises.":[125],"The":[126,154],"results":[127],"show":[128],"that":[129,139],"CFF":[130],"capable":[132],"fast":[134],"confirm":[138],"can":[143],"correct":[144],"gyroscope":[152],"data.":[153,183],"KFGD":[155,174,185],"comparable":[159],"XSENS":[161],"Awinda":[162],"has":[164],"shown":[165],"itself":[166],"be":[168],"stable":[169],"than":[170],"outperforms":[172,176],"CFF.":[173],"also":[175],"prominent":[178],"Madgwick":[179],"mobile":[182,193],"Thus,":[184],"suitable":[187],"low-cost":[189],"or":[192],"inertial":[194],"sensors,":[195],"especially":[196],"during":[197],"early":[198],"recovery":[199],"stage":[200],"sport":[202],"injuries":[203],"exercise":[205],"elderly.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}