{"id":"https://openalex.org/W4406890635","doi":"https://doi.org/10.1109/jiot.2025.3535779","title":"Fusion of IMU and Probabilistic Model for Indoor Localization Based on Bayesian Framework","display_name":"Fusion of IMU and Probabilistic Model for Indoor Localization Based on Bayesian Framework","publication_year":2025,"publication_date":"2025-01-28","ids":{"openalex":"https://openalex.org/W4406890635","doi":"https://doi.org/10.1109/jiot.2025.3535779"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2025.3535779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3535779","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/A5028981851","display_name":"Xinzhao Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinzhao Zhou","raw_affiliation_strings":["CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China, Hefei, China","CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China (USTC), Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China (USTC), Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100379216","display_name":"Li Chen","orcid":"https://orcid.org/0000-0002-1754-0607"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Chen","raw_affiliation_strings":["CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China, Hefei, China","CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China (USTC), Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-1754-0607","affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China (USTC), Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102013387","display_name":"Yunfei Chen","orcid":"https://orcid.org/0000-0001-8083-1805"},"institutions":[{"id":"https://openalex.org/I190082696","display_name":"Durham University","ror":"https://ror.org/01v29qb04","country_code":"GB","type":"education","lineage":["https://openalex.org/I190082696"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yunfei Chen","raw_affiliation_strings":["Department of Engineering, University of Durham, Durham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-8083-1805","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Durham, Durham, U.K","institution_ids":["https://openalex.org/I190082696"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101402784","display_name":"Huarui Yin","orcid":"https://orcid.org/0000-0003-0506-5930"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huarui Yin","raw_affiliation_strings":["CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China, Hefei, China","CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China (USTC), Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-0506-5930","affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China (USTC), Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100375178","display_name":"Xiaohui Chen","orcid":"https://orcid.org/0000-0003-3239-2558"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohui Chen","raw_affiliation_strings":["CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China, Hefei, China","CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China (USTC), Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-3239-2558","affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China (USTC), Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100432932","display_name":"Weidong Wang","orcid":"https://orcid.org/0000-0002-3550-0625"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Wang","raw_affiliation_strings":["CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China, Hefei, China","CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China (USTC), Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-3550-0625","affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"CAS Key Laboratory of Wireless Optical Communication, University of Science and Technology of China (USTC), Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1408,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.86201705,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"12","issue":"11","first_page":"17080","last_page":"17094"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.8525999784469604,"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":0.8525999784469604,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7551110982894897},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7113279104232788},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5995213389396667},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.586493730545044},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4863312840461731},{"id":"https://openalex.org/keywords/statistical-model","display_name":"Statistical model","score":0.4472822844982147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4253010153770447},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.34225717186927795}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7551110982894897},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7113279104232788},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5995213389396667},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.586493730545044},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4863312840461731},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.4472822844982147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4253010153770447},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.34225717186927795}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3535779","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3535779","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":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G1200220266","display_name":null,"funder_award_id":"2308085J24","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1767627585","display_name":null,"funder_award_id":"62471449","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4932164325","display_name":null,"funder_award_id":"No. 62471449","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5037919483","display_name":null,"funder_award_id":"No. 2308085J24","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1636339314","https://openalex.org/W1981367467","https://openalex.org/W2068856195","https://openalex.org/W2128728535","https://openalex.org/W2130422193","https://openalex.org/W2141585124","https://openalex.org/W2160337655","https://openalex.org/W2296608149","https://openalex.org/W2299515439","https://openalex.org/W2309512289","https://openalex.org/W2478181550","https://openalex.org/W2582846117","https://openalex.org/W2745203826","https://openalex.org/W2768018028","https://openalex.org/W2790167672","https://openalex.org/W2790826789","https://openalex.org/W2832604869","https://openalex.org/W2917929657","https://openalex.org/W2927337361","https://openalex.org/W2964029185","https://openalex.org/W2972355358","https://openalex.org/W2972776893","https://openalex.org/W2982580923","https://openalex.org/W2985031189","https://openalex.org/W3000004788","https://openalex.org/W3043706389","https://openalex.org/W3203598653","https://openalex.org/W4210486364","https://openalex.org/W4210659589","https://openalex.org/W4230472026","https://openalex.org/W4285248395","https://openalex.org/W4285598347","https://openalex.org/W4288032326","https://openalex.org/W4300672471","https://openalex.org/W4308001098","https://openalex.org/W4321609252","https://openalex.org/W4376480464","https://openalex.org/W4377007913","https://openalex.org/W4389459063","https://openalex.org/W4389611043","https://openalex.org/W4399366390","https://openalex.org/W4400767105","https://openalex.org/W4402169085","https://openalex.org/W4402782025","https://openalex.org/W4403021897","https://openalex.org/W4403390308","https://openalex.org/W4404006892","https://openalex.org/W6721887335"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2785359964","https://openalex.org/W2002739602","https://openalex.org/W1968042686","https://openalex.org/W2897881820","https://openalex.org/W2345647014","https://openalex.org/W2201192772","https://openalex.org/W2161960196","https://openalex.org/W3136891595","https://openalex.org/W1964819397"],"abstract_inverted_index":{"High-accuracy":[0],"indoor":[1,28,186],"localization":[2,43,68,95,173,210],"is":[3],"a":[4,84,100,184,206,218],"key":[5],"enabler":[6],"of":[7,15,51,137,212],"ubiquitous":[8],"location-based":[9],"services":[10],"(LBSs)":[11],"in":[12,20,48,183,217],"the":[13,35,49,110,133,138,161,199],"Internet":[14],"Things":[16],"(IoT),":[17],"with":[18,83,163],"applications":[19],"mobile":[21],"robots,":[22],"asset":[23],"tracking,":[24],"and":[25,45,55,126,155,159],"beyond.":[26],"For":[27],"localization,":[29],"it":[30],"has":[31,170],"been":[32],"reported":[33],"that":[34,198],"methods":[36,69,203],"based":[37,70,102,188],"on":[38,71,103,189],"probabilistic":[39,85],"models":[40],"have":[41],"high":[42,128,134],"accuracy":[44,121,174],"strong":[46],"generalization":[47],"presence":[50],"nonline-of-sight":[52],"(NLOS)":[53],"conditions":[54],"multipath":[56],"effects.":[57],"To":[58],"further":[59],"leverage":[60],"such":[61],"advantages,":[62],"this":[63],"article":[64],"proposes":[65],"two":[66,200],"fusion":[67,202],"Bayesian":[72],"filters":[73],"which":[74],"fuse":[75],"an":[76,143],"inertial":[77],"measurement":[78],"unit":[79],"(IMU)":[80],"motion":[81],"model":[82,86],"constructed":[87],"by":[88,124],"soft":[89],"information":[90],"(SI)":[91],"framework":[92],"to":[93,107,131,149],"enhance":[94],"performance.":[96],"First,":[97],"we":[98,141],"propose":[99],"method":[101,119,169],"particle":[104],"filter":[105,147,162],"(PF)":[106],"directly":[108],"fit":[109],"posterior":[111],"probability":[112],"density":[113],"distribution":[114],"(PDF),":[115],"called":[116],"PF-SI.":[117],"This":[118,168],"reduces":[120],"loss":[122],"caused":[123],"linearization":[125],"achieves":[127],"accuracy.":[129],"Then,":[130],"reduce":[132],"computational":[135,178],"complexity":[136],"PF-SI":[139],"method,":[140],"utilize":[142],"error":[144,152,156,211],"state":[145,153],"Kalman":[146],"(ESKF)":[148],"construct":[150],"linearized":[151],"transition":[154],"observation":[157],"equations":[158],"update":[160],"distance":[164],"residual,":[165],"as":[166],"ESKF-SI.":[167],"slightly":[171],"lower":[172],"but":[175],"significantly":[176],"improves":[177],"efficiency.":[179],"Finally,":[180],"experimental":[181],"results":[182,196],"real":[185],"scenario":[187],"ultrawideband":[190],"(UWB)":[191],"signals":[192],"are":[193],"presented.":[194],"The":[195],"show":[197],"proposed":[201],"can":[204],"achieve":[205],"root":[207],"mean":[208],"square":[209],"less":[213],"than":[214],"0.25":[215],"m":[216],"complex":[219],"NLOS":[220],"scenario.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}