{"id":"https://openalex.org/W2914350983","doi":"https://doi.org/10.1109/tie.2019.2897550","title":"A Double-Step Unscented Kalman Filter and HMM-Based Zero-Velocity Update for Pedestrian Dead Reckoning Using MEMS Sensors","display_name":"A Double-Step Unscented Kalman Filter and HMM-Based Zero-Velocity Update for Pedestrian Dead Reckoning Using MEMS Sensors","publication_year":2019,"publication_date":"2019-02-11","ids":{"openalex":"https://openalex.org/W2914350983","doi":"https://doi.org/10.1109/tie.2019.2897550","mag":"2914350983"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2019.2897550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2897550","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Transactions on Industrial Electronics","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/A5045011514","display_name":"Xin Tong","orcid":"https://orcid.org/0000-0002-6646-0638"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210149211","display_name":"Institute of Semiconductors","ror":"https://ror.org/048dd0611","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210149211"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xin Tong","raw_affiliation_strings":["Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6646-0638","affiliations":[{"raw_affiliation_string":"Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210149211","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037431207","display_name":"Yan Su","orcid":"https://orcid.org/0000-0001-9126-1692"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210149211","display_name":"Institute of Semiconductors","ror":"https://ror.org/048dd0611","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210149211"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Su","raw_affiliation_strings":["Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210149211","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100648859","display_name":"Zhaofeng Li","orcid":"https://orcid.org/0000-0001-5986-6456"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210149211","display_name":"Institute of Semiconductors","ror":"https://ror.org/048dd0611","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210149211"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaofeng Li","raw_affiliation_strings":["Engineering Research Center for Semiconductor Integrated Technology, Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Semiconductor Integrated Technology, Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210149211","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031616117","display_name":"Chaowei Si","orcid":"https://orcid.org/0000-0002-0093-9881"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210149211","display_name":"Institute of Semiconductors","ror":"https://ror.org/048dd0611","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210149211"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaowei Si","raw_affiliation_strings":["Engineering Research Center for Semiconductor Integrated Technology, Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Semiconductor Integrated Technology, Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210149211","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060829352","display_name":"Guowei Han","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210149211","display_name":"Institute of Semiconductors","ror":"https://ror.org/048dd0611","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210149211"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guowei Han","raw_affiliation_strings":["Engineering Research Center for Semiconductor Integrated Technology, Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Semiconductor Integrated Technology, Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210149211","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jin Ning","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210149211","display_name":"Institute of Semiconductors","ror":"https://ror.org/048dd0611","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210149211"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Ning","raw_affiliation_strings":["Engineering Research Center for Semiconductor Integrated Technology, Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Semiconductor Integrated Technology, Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210149211","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101678468","display_name":"Fuhua Yang","orcid":"https://orcid.org/0000-0002-9981-9387"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210149211","display_name":"Institute of Semiconductors","ror":"https://ror.org/048dd0611","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210149211"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuhua Yang","raw_affiliation_strings":["Engineering Research Center for Semiconductor Integrated Technology, Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9981-9387","affiliations":[{"raw_affiliation_string":"Engineering Research Center for Semiconductor Integrated Technology, Institute of Semiconductors, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210149211","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5045011514"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210149211"],"apc_list":null,"apc_paid":null,"fwci":6.1744,"has_fulltext":false,"cited_by_count":101,"citation_normalized_percentile":{"value":0.96998411,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"67","issue":"1","first_page":"581","last_page":"591"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998999834060669,"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":0.9998999834060669,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9980999827384949,"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/dead-reckoning","display_name":"Dead reckoning","score":0.7870961427688599},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7691097259521484},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5911245346069336},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5476516485214233},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.5416929721832275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5238744616508484},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.5198419690132141},{"id":"https://openalex.org/keywords/state-vector","display_name":"State vector","score":0.4503272771835327},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.44955286383628845},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.44302570819854736},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3963218629360199},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38301390409469604},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3378426432609558},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2986767292022705},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24657338857650757},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.09678462147712708}],"concepts":[{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.7870961427688599},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7691097259521484},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5911245346069336},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5476516485214233},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.5416929721832275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5238744616508484},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.5198419690132141},{"id":"https://openalex.org/C2777798563","wikidata":"https://www.wikidata.org/wiki/Q7603916","display_name":"State vector","level":2,"score":0.4503272771835327},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.44955286383628845},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.44302570819854736},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3963218629360199},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38301390409469604},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3378426432609558},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2986767292022705},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24657338857650757},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.09678462147712708},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2019.2897550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2019.2897550","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.550000011920929,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2507684681","display_name":null,"funder_award_id":"61504130","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5172107133","display_name":null,"funder_award_id":"61704165","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6654753976","display_name":null,"funder_award_id":"Y673010000","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G7705162038","display_name":null,"funder_award_id":"5172015004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7912626329","display_name":null,"funder_award_id":"2016YFA02005003","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program 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/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"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":45,"referenced_works":["https://openalex.org/W636927631","https://openalex.org/W1486632395","https://openalex.org/W1539436111","https://openalex.org/W1576962698","https://openalex.org/W1749494163","https://openalex.org/W1951532934","https://openalex.org/W1998358366","https://openalex.org/W2003410899","https://openalex.org/W2019976143","https://openalex.org/W2025904705","https://openalex.org/W2038785536","https://openalex.org/W2053947927","https://openalex.org/W2056201856","https://openalex.org/W2056427752","https://openalex.org/W2076186907","https://openalex.org/W2085535099","https://openalex.org/W2086699924","https://openalex.org/W2089074378","https://openalex.org/W2100989187","https://openalex.org/W2105594594","https://openalex.org/W2113325920","https://openalex.org/W2121514940","https://openalex.org/W2123487311","https://openalex.org/W2124647600","https://openalex.org/W2125838338","https://openalex.org/W2148874154","https://openalex.org/W2150893603","https://openalex.org/W2157091296","https://openalex.org/W2160146756","https://openalex.org/W2171720331","https://openalex.org/W2214650344","https://openalex.org/W2363969975","https://openalex.org/W2417291942","https://openalex.org/W2468078839","https://openalex.org/W2509957064","https://openalex.org/W2594735305","https://openalex.org/W2608653446","https://openalex.org/W2751613606","https://openalex.org/W2765739549","https://openalex.org/W2767797175","https://openalex.org/W2770228878","https://openalex.org/W2779194219","https://openalex.org/W3022480384","https://openalex.org/W6628849183","https://openalex.org/W6745511503"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W2769521921","https://openalex.org/W4285223350","https://openalex.org/W2800933538","https://openalex.org/W4387486853","https://openalex.org/W3017998757","https://openalex.org/W2377099507","https://openalex.org/W3176782576","https://openalex.org/W3188389125"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,24],"novel":[6],"method":[7,83,104],"for":[8,63],"pedestrian":[9],"dead":[10],"reckoning":[11],"(PDR)":[12],"using":[13],"microelectromechanical":[14],"system":[15],"magnetic,":[16],"angular":[17],"rate,":[18],"and":[19,30,48,94,114],"gravity":[20,46],"sensors,":[21],"which":[22],"includes":[23],"double-step":[25],"unscented":[26],"Kalman":[27],"filter":[28],"(DUKF)":[29],"hidden":[31],"Markov":[32],"model":[33],"(HMM)-based":[34],"zero-velocity-update":[35],"(ZVU)":[36],"algorithm.":[37],"The":[38,68],"DUKF":[39],"divides":[40],"the":[41,45,49,60,64,76,80,86,91,102,124],"measurement":[42],"updates":[43],"of":[44],"vector":[47,52],"magnetic":[50],"field":[51],"into":[53],"two":[54],"steps":[55],"in":[56,123],"order":[57],"to":[58,74],"avoid":[59],"unwanted":[61],"correction":[62],"Euler":[65],"angle":[66],"error.":[67],"HMM-based":[69],"ZVU":[70,77],"algorithm":[71],"is":[72],"developed":[73],"recognize":[75],"efficiently.":[78],"Thus,":[79],"proposed":[81,103],"PDR":[82],"can":[84],"reduce":[85],"position":[87,119],"drift":[88],"caused":[89],"by":[90],"heading":[92],"error":[93],"fault":[95],"zero-velocity":[96,112],"measurement.":[97],"Experimental":[98],"results":[99],"demonstrate":[100],"that":[101],"achieves":[105],"better":[106],"yaw":[107],"estimate,":[108],"as":[109,111],"well":[110],"measurement,":[113],"obtains":[115],"more":[116],"accurate":[117],"dead-reckoning":[118],"than":[120],"other":[121],"methods":[122],"literature.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":22},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":3}],"updated_date":"2026-05-22T09:01:20.584952","created_date":"2025-10-10T00:00:00"}
