{"id":"https://openalex.org/W3188109370","doi":"https://doi.org/10.1109/jiot.2021.3075532","title":"A V2X-Integrated Positioning Methodology in Ultradense Networks","display_name":"A V2X-Integrated Positioning Methodology in Ultradense Networks","publication_year":2021,"publication_date":"2021-04-26","ids":{"openalex":"https://openalex.org/W3188109370","doi":"https://doi.org/10.1109/jiot.2021.3075532","mag":"3188109370"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2021.3075532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2021.3075532","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"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 Internet of Things Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11820/29ff3d91-aa48-48ad-ade5-1558359bfc8c","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013132595","display_name":"Qirui Liu","orcid":"https://orcid.org/0000-0002-0289-1471"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qirui Liu","raw_affiliation_strings":["School of Electronic and Information Engineering and Shenyuan Honors College, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering and Shenyuan Honors College, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077936056","display_name":"Rongke Liu","orcid":"https://orcid.org/0000-0003-3098-8649"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongke Liu","raw_affiliation_strings":["School of Electronic and Information Engineering and Shenyuan Honors College, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering and Shenyuan Honors College, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024354027","display_name":"Zijie Wang","orcid":"https://orcid.org/0000-0001-5429-5850"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zijie Wang","raw_affiliation_strings":["School of Electronic and Information Engineering and Shenyuan Honors College, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering and Shenyuan Honors College, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023143622","display_name":"Lincong Han","orcid":"https://orcid.org/0000-0002-5064-7203"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lincong Han","raw_affiliation_strings":["School of Electronic and Information Engineering and Shenyuan Honors College, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering and Shenyuan Honors College, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061430082","display_name":"John Thompson","orcid":"https://orcid.org/0000-0002-4605-9708"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"John S. Thompson","raw_affiliation_strings":["Institute for Digital Communications, School of Engineering, University of Edinburgh, Edinburgh, U.K"],"affiliations":[{"raw_affiliation_string":"Institute for Digital Communications, School of Engineering, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5013132595"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":1.9227,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.86073249,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":"23","first_page":"17014","last_page":"17028"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"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":0.9993000030517578,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9991000294685364,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9921000003814697,"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/computer-science","display_name":"Computer science","score":0.7600441575050354},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.6476193070411682},{"id":"https://openalex.org/keywords/vehicle-to-vehicle","display_name":"Vehicle-to-vehicle","score":0.5303215384483337},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5242262482643127},{"id":"https://openalex.org/keywords/non-line-of-sight-propagation","display_name":"Non-line-of-sight propagation","score":0.48220551013946533},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.46432915329933167},{"id":"https://openalex.org/keywords/intelligent-transportation-system","display_name":"Intelligent transportation system","score":0.4447953402996063},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4107059836387634},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3251764178276062},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.31093525886535645},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.30879223346710205},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.28161489963531494},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.15453091263771057},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13729923963546753},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.11310335993766785}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7600441575050354},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.6476193070411682},{"id":"https://openalex.org/C2780241275","wikidata":"https://www.wikidata.org/wiki/Q682677","display_name":"Vehicle-to-vehicle","level":2,"score":0.5303215384483337},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5242262482643127},{"id":"https://openalex.org/C154910267","wikidata":"https://www.wikidata.org/wiki/Q1740982","display_name":"Non-line-of-sight propagation","level":3,"score":0.48220551013946533},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.46432915329933167},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.4447953402996063},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4107059836387634},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3251764178276062},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.31093525886535645},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.30879223346710205},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.28161489963531494},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.15453091263771057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13729923963546753},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.11310335993766785},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"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/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/jiot.2021.3075532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2021.3075532","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"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 Internet of Things Journal","raw_type":"journal-article"},{"id":"pmh:oai:pure.ed.ac.uk:publications/29ff3d91-aa48-48ad-ade5-1558359bfc8c","is_oa":true,"landing_page_url":null,"pdf_url":"http://hdl.handle.net/20.500.11820/29ff3d91-aa48-48ad-ade5-1558359bfc8c","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:pure.ed.ac.uk:publications/29ff3d91-aa48-48ad-ade5-1558359bfc8c","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/29ff3d91-aa48-48ad-ade5-1558359bfc8c","pdf_url":"https://www.research.ed.ac.uk/files/217000474/A_V2X_Integrated_Positioning_Methodology_in_Ultra_dense_Networks.PDF.pdf","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Liu, Q, Liu, R, Wang, Z, Han, L & Thompson, J S 2021, 'A V2X Integrated Positioning Methodology in Ultra-dense Networks', IEEE Internet of Things Journal, vol. 8, no. 23, pp. 17014-17028. https://doi.org/10.1109/JIOT.2021.3075532","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:publications/29ff3d91-aa48-48ad-ade5-1558359bfc8c","is_oa":true,"landing_page_url":null,"pdf_url":"http://hdl.handle.net/20.500.11820/29ff3d91-aa48-48ad-ade5-1558359bfc8c","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5199999809265137}],"awards":[{"id":"https://openalex.org/G6623508978","display_name":null,"funder_award_id":"Z181100003218008","funder_id":"https://openalex.org/F4320325902","funder_display_name":"Beijing Municipal Science and Technology Commission"}],"funders":[{"id":"https://openalex.org/F4320325902","display_name":"Beijing Municipal Science and Technology Commission","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3188109370.pdf"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1578953027","https://openalex.org/W1906455051","https://openalex.org/W1932602369","https://openalex.org/W1969907290","https://openalex.org/W1978001812","https://openalex.org/W2040514407","https://openalex.org/W2044115878","https://openalex.org/W2048294994","https://openalex.org/W2050386482","https://openalex.org/W2062247251","https://openalex.org/W2073459066","https://openalex.org/W2076538312","https://openalex.org/W2119669635","https://openalex.org/W2126736494","https://openalex.org/W2143388966","https://openalex.org/W2149481071","https://openalex.org/W2150593711","https://openalex.org/W2161044775","https://openalex.org/W2171029749","https://openalex.org/W2231976888","https://openalex.org/W2290933052","https://openalex.org/W2511738007","https://openalex.org/W2572572557","https://openalex.org/W2598526573","https://openalex.org/W2601478304","https://openalex.org/W2736668558","https://openalex.org/W2744366673","https://openalex.org/W2765955268","https://openalex.org/W2783378510","https://openalex.org/W2791639158","https://openalex.org/W2792442555","https://openalex.org/W2963506524","https://openalex.org/W2963568889","https://openalex.org/W2964060007","https://openalex.org/W2964338899","https://openalex.org/W2980924270","https://openalex.org/W2984459839","https://openalex.org/W3043853455","https://openalex.org/W6668990524","https://openalex.org/W6735211345"],"related_works":["https://openalex.org/W2172272784","https://openalex.org/W2510411743","https://openalex.org/W2531011469","https://openalex.org/W2950277641","https://openalex.org/W4299408672","https://openalex.org/W2904343741","https://openalex.org/W1999804650","https://openalex.org/W2111481496","https://openalex.org/W2511821986","https://openalex.org/W3170459804"],"abstract_inverted_index":{"Intelligent":[0],"transport":[1],"systems":[2,29,139],"demand":[3],"the":[4,45,61,69,79,86,93,101,106,116,133,171,182,192,206,216,220],"provision":[5],"of":[6,64,72,83,88,109,208],"a":[7,13,37,125,177,235],"continuous":[8],"high-accuracy":[9],"positioning":[10,15,28,59,103,127,223],"service.":[11],"However,":[12],"vehicle":[14],"system":[16,224],"typically":[17],"has":[18],"to":[19,40,51,55,68,99,169,181],"operate":[20],"in":[21,92,129,131,219,230],"dense":[22],"urban":[23],"areas":[24],"where":[25,44],"conventional":[26],"satellite-based":[27],"suffer":[30],"severe":[31],"performance":[32,228],"degradation.":[33],"5G":[34],"technology":[35],"presents":[36],"new":[38],"paradigm":[39],"provide":[41,176],"ubiquitous":[42],"connectivity,":[43],"vehicle-to-everything":[46],"(V2X)":[47],"communication":[48],"turns":[49],"out":[50],"be":[52,113],"highly":[53],"conducive":[54],"enable":[56],"both":[57],"accurate":[58,179],"and":[60,81,136,154,175],"emerging":[62],"Internet":[63],"Vehicles":[65],"(IoV).":[66],"Due":[67],"high":[70],"probability":[71],"Line-of-Sight":[73],"(LoS)":[74],"communication,":[75],"as":[76,78,232],"well":[77],"diversity":[80],"number":[82],"reference":[84],"stations,":[85],"application":[87],"ultradense":[89],"networks":[90],"(UDN)":[91],"vehicle-to-infrastructure":[94],"(V2I)":[95],"subsystem":[96],"is":[97,148,162],"envisaged":[98],"complement":[100],"existing":[102],"technologies.":[104],"Moreover,":[105],"cooperative":[107],"determination":[108],"location":[110],"information":[111],"could":[112,225],"enhanced":[114],"by":[115],"vehicle-to-vehicle":[117],"(V2V)":[118],"subsystem.":[119],"In":[120,167],"this":[121],"article,":[122],"we":[123,184],"propose":[124],"V2X-integrated":[126],"methodology":[128],"UDN,":[130],"which":[132],"V2I,":[134],"V2V,":[135],"inertial":[137],"navigation":[138],"(INSs)":[140],"are":[141],"unified":[142],"for":[143,164],"data":[144],"fusion.":[145],"This":[146],"formulation":[147],"an":[149,155,186],"iterative":[150],"high-dimensional":[151],"estimation":[152],"problem,":[153],"efficient":[156],"multiple":[157],"particle":[158],"filter":[159],"(MPF)-based":[160],"method":[161,190],"proposed":[163,221],"solving":[165],"it.":[166],"order":[168],"mitigate":[170],"non-LoS":[172],"(NLoS)":[173],"impact":[174],"relatively":[178],"input":[180],"MPF,":[183],"introduce":[185],"advanced":[187],"anchor":[188],"selection":[189],"using":[191],"geometry-based":[193],"<inline-formula":[194],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[195],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[196],"<tex-math":[197],"notation=\"LaTeX\">${K}$":[198],"</tex-math></inline-formula>":[199],"-means":[200],"clustering":[201],"(GK)":[202],"algorithm":[203,218],"based":[204],"on":[205],"characteristics":[207],"network":[209],"densification.":[210],"Numerical":[211],"results":[212],"demonstrate":[213],"that":[214],"utilizing":[215],"GK":[217],"integrated":[222],"achieve":[226],"18.7%":[227],"gains":[229],"accuracy,":[231],"compared":[233],"with":[234],"state-of-the-art":[236],"approach.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
