{"id":"https://openalex.org/W3157127733","doi":"https://doi.org/10.1109/jiot.2021.3077912","title":"A Robust Heading Estimation Solution for Smartphone Multisensor-Integrated Indoor Positioning","display_name":"A Robust Heading Estimation Solution for Smartphone Multisensor-Integrated Indoor Positioning","publication_year":2021,"publication_date":"2021-05-06","ids":{"openalex":"https://openalex.org/W3157127733","doi":"https://doi.org/10.1109/jiot.2021.3077912","mag":"3157127733"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2021.3077912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2021.3077912","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005863742","display_name":"Sheng Yang","orcid":"https://orcid.org/0009-0008-0096-4922"},"institutions":[{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]},{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sheng Yang","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035970188","display_name":"Jingbin Liu","orcid":"https://orcid.org/0000-0001-6216-0956"},"institutions":[{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]},{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingbin Liu","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057474029","display_name":"Xiaodong Gong","orcid":"https://orcid.org/0000-0003-0691-9686"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodong Gong","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057727801","display_name":"Gege Huang","orcid":"https://orcid.org/0000-0002-9070-7725"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]},{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gege Huang","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053384854","display_name":"Yu Bai","orcid":"https://orcid.org/0000-0002-3948-9224"},"institutions":[{"id":"https://openalex.org/I4210118728","display_name":"State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing","ror":"https://ror.org/02bpap860","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210118728"]},{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Bai","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I4210118728","https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5005863742"],"corresponding_institution_ids":["https://openalex.org/I37461747","https://openalex.org/I4210118728"],"apc_list":null,"apc_paid":null,"fwci":2.3062,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.88461432,"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":"17186","last_page":"17198"},"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9944999814033508,"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/T10655","display_name":"GNSS positioning and interference","score":0.9941999912261963,"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":0.8214880228042603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7754471302032471},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5544040203094482},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5414197444915771},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5308436155319214},{"id":"https://openalex.org/keywords/bluetooth","display_name":"Bluetooth","score":0.5267195701599121},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4836045801639557},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.32752230763435364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32229846715927124},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.11816763877868652},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1098165512084961}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.8214880228042603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7754471302032471},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5544040203094482},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5414197444915771},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5308436155319214},{"id":"https://openalex.org/C546215728","wikidata":"https://www.wikidata.org/wiki/Q39531","display_name":"Bluetooth","level":3,"score":0.5267195701599121},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4836045801639557},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.32752230763435364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32229846715927124},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.11816763877868652},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1098165512084961},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2021.3077912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2021.3077912","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2411584222","display_name":null,"funder_award_id":"2018CFA007","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"},{"id":"https://openalex.org/G5025272861","display_name":null,"funder_award_id":"2016YFB0502204","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5334757333","display_name":null,"funder_award_id":"41874031","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322186","display_name":"Natural Science Foundation of Hubei Province","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W167184165","https://openalex.org/W207485545","https://openalex.org/W1496685438","https://openalex.org/W1964934429","https://openalex.org/W1971903529","https://openalex.org/W1972362528","https://openalex.org/W1972909828","https://openalex.org/W1979561374","https://openalex.org/W1982044840","https://openalex.org/W1985136185","https://openalex.org/W2030646401","https://openalex.org/W2038791641","https://openalex.org/W2044831755","https://openalex.org/W2056427752","https://openalex.org/W2068637256","https://openalex.org/W2074060156","https://openalex.org/W2075459923","https://openalex.org/W2092221283","https://openalex.org/W2095620283","https://openalex.org/W2103217435","https://openalex.org/W2105934661","https://openalex.org/W2108688391","https://openalex.org/W2108963537","https://openalex.org/W2118975298","https://openalex.org/W2123487311","https://openalex.org/W2124647600","https://openalex.org/W2135303272","https://openalex.org/W2147298666","https://openalex.org/W2147402755","https://openalex.org/W2163597964","https://openalex.org/W2186672336","https://openalex.org/W2280671172","https://openalex.org/W2386793790","https://openalex.org/W2549219554","https://openalex.org/W2562522049","https://openalex.org/W2776371898","https://openalex.org/W2779222798","https://openalex.org/W2799542324","https://openalex.org/W2900506750","https://openalex.org/W2901136564","https://openalex.org/W2906226899","https://openalex.org/W2921149917","https://openalex.org/W2992172366","https://openalex.org/W3000004788","https://openalex.org/W3008306575","https://openalex.org/W3015570924","https://openalex.org/W3091245962","https://openalex.org/W3098143411","https://openalex.org/W3106381443","https://openalex.org/W6606752818","https://openalex.org/W6629913919","https://openalex.org/W6645163942","https://openalex.org/W6673830105","https://openalex.org/W6676012828","https://openalex.org/W6676183050","https://openalex.org/W6684090753","https://openalex.org/W6757053568"],"related_works":["https://openalex.org/W4220926637","https://openalex.org/W2358719579","https://openalex.org/W2362681120","https://openalex.org/W4376643979","https://openalex.org/W2376320007","https://openalex.org/W2103062922","https://openalex.org/W2162299404","https://openalex.org/W3088710599","https://openalex.org/W2365945961","https://openalex.org/W2369540926"],"abstract_inverted_index":{"As":[0],"a":[1,48,63,116,160],"part":[2],"of":[3,22,33,41,73,103,181,197],"Internet-of-Things":[4],"applications,":[5],"various":[6],"smartphone-based":[7],"indoor":[8,35,52,57,75,174,199],"location":[9],"services":[10],"have":[11],"considerable":[12],"commercial":[13],"value.":[14],"It":[15],"is":[16,25,109,157,184,209],"largely":[17],"agreed":[18],"that":[19,178],"the":[20,26,31,39,69,101,130,136,179,195],"integration":[21],"multiple":[23],"sensors":[24],"preferable":[27],"solution":[28,66,82,156,208],"for":[29,50],"improving":[30],"performance":[32],"smartphone":[34,51,74,84,161,198],"positioning,":[36,53],"thanks":[37],"to":[38,67,128,150,188,203,211],"diversity":[40],"built-in":[42,85],"sensors.":[43],"However,":[44],"heading":[45,64,137,182,192],"error":[46,133],"remains":[47],"challenge":[49],"especially":[54],"in":[55,165],"complex":[56,173],"scenes.":[58],"This":[59],"article,":[60],"therefore,":[61],"proposes":[62],"estimation":[65,138,183,193],"enhance":[68],"accuracy":[70,180,196],"and":[71,92,106,120,134,142,145,163,172],"reliability":[72],"positioning.":[76],"The":[77,154,190,206],"extended":[78],"Kalman":[79],"filter":[80],"(EKF)-based":[81],"fuses":[83],"motion":[86],"sensors,":[87],"magnetometers,":[88],"building":[89],"map":[90],"knowledge,":[91],"fingerprinting":[93],"coarse":[94],"positions":[95],"from":[96,186,201],"Wi-Fi":[97],"or":[98],"Bluetooth.":[99],"First,":[100],"context":[102],"pedestrian":[104,170],"mobility":[105,171],"scene":[107,117],"knowledge":[108],"inferred":[110],"by":[111],"combining":[112],"these":[113],"data.":[114],"Then,":[115],"augmentation":[118],"strategy":[119],"magnetic":[121],"interference":[122],"online":[123,146],"detection":[124],"method":[125],"are":[126,148],"applied":[127],"calibrate":[129],"gyro":[131,152],"accumulation":[132],"improve":[135],"accuracy.":[139],"Additionally,":[140],"quasistatic":[141],"low-dynamic":[143],"judgments":[144],"calibration":[147],"used":[149],"mitigate":[151],"drift.":[153],"proposed":[155,207],"implemented":[158],"on":[159],"device":[162],"validated":[164],"several":[166],"experiments":[167],"under":[168],"natural":[169],"scenarios.":[175,215],"Experiments":[176],"show":[177],"improved":[185,191],"13.1\u00b0":[187],"2.0\u00b0.":[189],"enhances":[194],"positioning":[200],"3.57":[202],"0.90":[204],"m.":[205],"applicable":[210],"real":[212],"location-based":[213],"service":[214]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}