{"id":"https://openalex.org/W3165055106","doi":"https://doi.org/10.1109/tim.2021.3082269","title":"Precise Indoor Positioning Based on Acoustic Ranging in Smartphone","display_name":"Precise Indoor Positioning Based on Acoustic Ranging in Smartphone","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3165055106","doi":"https://doi.org/10.1109/tim.2021.3082269","mag":"3165055106"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2021.3082269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3082269","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5029924052","display_name":"Ruizhi Chen","orcid":"https://orcid.org/0000-0001-6683-2342"},"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":"Ruizhi Chen","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-6683-2342","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/A5100414973","display_name":"Zheng Li","orcid":"https://orcid.org/0000-0002-0450-7357"},"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":"Zheng Li","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-0450-7357","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/A5100398481","display_name":"Feng Ye","orcid":"https://orcid.org/0000-0001-9718-1255"},"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":"Feng Ye","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-9718-1255","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/A5010955579","display_name":"Guangyi Guo","orcid":"https://orcid.org/0000-0002-7494-0914"},"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":"Guangyi Guo","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-7494-0914","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/A5012383108","display_name":"Shihao Xu","orcid":"https://orcid.org/0000-0003-2399-7176"},"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":"Shihao Xu","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-2399-7176","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/A5066248016","display_name":"Long Qian","orcid":"https://orcid.org/0000-0002-7612-2683"},"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":"Long Qian","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-7612-2683","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/A5003819865","display_name":"Zuoya Liu","orcid":"https://orcid.org/0000-0002-9407-5008"},"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":"Zuoya Liu","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-9407-5008","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/A5017729658","display_name":"Lixiong Huang","orcid":"https://orcid.org/0000-0003-3644-3527"},"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":"Lixiong Huang","raw_affiliation_strings":["State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-3644-3527","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":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.1869,"has_fulltext":false,"cited_by_count":72,"citation_normalized_percentile":{"value":0.96154421,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"70","issue":null,"first_page":"1","last_page":"12"},"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/T10860","display_name":"Speech and Audio Processing","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/ranging","display_name":"Ranging","score":0.9239718914031982},{"id":"https://openalex.org/keywords/multilateration","display_name":"Multilateration","score":0.7569849491119385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.693282961845398},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5962449312210083},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5037726759910583},{"id":"https://openalex.org/keywords/bluetooth","display_name":"Bluetooth","score":0.48205217719078064},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.48146286606788635},{"id":"https://openalex.org/keywords/positioning-system","display_name":"Positioning system","score":0.45940274000167847},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4463391602039337},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3400469720363617},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3364153802394867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27998095750808716},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.2505263686180115},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.1791989803314209},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12430080771446228},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11452263593673706}],"concepts":[{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.9239718914031982},{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.7569849491119385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.693282961845398},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5962449312210083},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5037726759910583},{"id":"https://openalex.org/C546215728","wikidata":"https://www.wikidata.org/wiki/Q39531","display_name":"Bluetooth","level":3,"score":0.48205217719078064},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.48146286606788635},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.45940274000167847},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4463391602039337},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3400469720363617},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3364153802394867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27998095750808716},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2505263686180115},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.1791989803314209},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12430080771446228},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11452263593673706},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2021.3082269","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2021.3082269","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6899999976158142,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2969773877","display_name":null,"funder_award_id":"2016YFB0502200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3438858774","display_name":null,"funder_award_id":"91638203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G998206653","display_name":null,"funder_award_id":"2016YFB0502201","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1828682683","https://openalex.org/W1975177534","https://openalex.org/W1977917536","https://openalex.org/W2003636464","https://openalex.org/W2033354122","https://openalex.org/W2041076788","https://openalex.org/W2072670885","https://openalex.org/W2076011736","https://openalex.org/W2100471625","https://openalex.org/W2105464056","https://openalex.org/W2111165378","https://openalex.org/W2114863372","https://openalex.org/W2148672271","https://openalex.org/W2148752651","https://openalex.org/W2152128354","https://openalex.org/W2213241233","https://openalex.org/W2335413077","https://openalex.org/W2527207533","https://openalex.org/W2543392529","https://openalex.org/W2548478348","https://openalex.org/W2946408645","https://openalex.org/W2946563458","https://openalex.org/W2964029185","https://openalex.org/W2989277575","https://openalex.org/W2989666268","https://openalex.org/W2992647966","https://openalex.org/W2995202876","https://openalex.org/W3011794741","https://openalex.org/W6682036758"],"related_works":["https://openalex.org/W2380293945","https://openalex.org/W2422052711","https://openalex.org/W2770244042","https://openalex.org/W2035295430","https://openalex.org/W2982048141","https://openalex.org/W3202186259","https://openalex.org/W2877467066","https://openalex.org/W2967336251","https://openalex.org/W1492287877","https://openalex.org/W3105280931"],"abstract_inverted_index":{"Existing":[0],"indoor":[1],"positioning":[2,16,169,179,213,233],"systems":[3],"based":[4,72],"on":[5,73],"Wi-Fi":[6],"or":[7],"Bluetooth":[8],"confront":[9],"difficulties":[10],"and":[11,19,34,80,127,186,220],"problems,":[12],"such":[13],"as":[14],"low":[15],"accuracy,":[17],"unstable,":[18],"small-signal":[20],"coverage.":[21],"A":[22,45],"system":[23],"using":[24],"an":[25,112],"acoustic":[26,128],"ranging":[27,130,161],"signal":[28,145],"is":[29,36,68,117,148,191,229],"presented":[30],"in":[31,108,137,158,196],"this":[32],"article,":[33],"it":[35,209],"available":[37],"for":[38,132],"almost":[39],"all":[40],"commercial":[41],"off-the-shelf":[42],"(COTS)":[43],"smartphones.":[44],"solution":[46],"was":[47],"developed":[48],"to":[49,90,103,119],"detect":[50],"the":[51,105,144,197,201,232,236],"modulated":[52],"signals":[53],"transmitted":[54],"by":[55],"specially":[56],"designed":[57],"anchor":[58],"stations":[59],"at":[60,184,189,218,223],"each":[61],"consisting":[62],"of":[63,154,160,171,181,215,235],"a":[64,69,74,81,99,134,151,167,205,211],"speaker.":[65],"The":[66,85,163],"detector":[67],"two-stage":[70],"algorithm":[71,147],"generalized":[75],"cross":[76],"correlation":[77],"(GCC)":[78],"method":[79,165],"time-frequency-based":[82],"feature":[83],"extraction.":[84],"detected":[86],"timestamps":[87],"are":[88],"converted":[89],"time-difference-of-arrivals":[91],"(TDOAs)":[92],"observables,":[93],"which":[94,228],"can":[95],"be":[96],"applied":[97],"with":[98,150,193,204,225,231],"least-squares":[100],"(LS)":[101],"estimator":[102],"obtain":[104],"smartphone":[106],"positions":[107],"static":[109,168],"cases.":[110,139],"Furthermore,":[111],"extended":[113],"Kalman":[114],"filter":[115],"(EKF)":[116],"introduced":[118],"integrate":[120],"data":[121],"from":[122],"inertial":[123],"measurement":[124],"units":[125],"(IMUs)":[126],"TDOA":[129],"observables":[131],"estimating":[133],"better":[135,172],"trajectory":[136],"dynamic":[138,177,212],"Experimental":[140],"results":[141],"show":[142],"that":[143],"detection":[146],"accurate":[149],"mean":[152],"error":[153],"about":[155],"0.3-1":[156],"m":[157,183,188,217,222],"terms":[159],"estimation.":[162],"proposed":[164],"offers":[166],"accuracy":[170,180,214,234],"than":[173],"0.5":[174,182,216],"m.":[175],"For":[176],"tests,":[178],"50%":[185,219],"1.6":[187],"95%":[190,224],"achieved":[192],"four":[194],"anchors":[195],"first":[198],"scene.":[199],"In":[200],"second":[202],"scene":[203],"large":[206],"test":[207],"site,":[208],"achieves":[210],"1.82":[221],"eight":[226],"anchors,":[227],"comparable":[230],"ultrawideband":[237],"(UWB)":[238],"technology.":[239]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}