{"id":"https://openalex.org/W4401990912","doi":"https://doi.org/10.1109/tim.2024.3451578","title":"Nonlinearity-Aware ZUPT-Aided Pedestrian Inertial Navigation Based on Cubature Kalman Filter in Urban Canyons","display_name":"Nonlinearity-Aware ZUPT-Aided Pedestrian Inertial Navigation Based on Cubature Kalman Filter in Urban Canyons","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4401990912","doi":"https://doi.org/10.1109/tim.2024.3451578"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3451578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3451578","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/A5101580328","display_name":"Ruijie Xu","orcid":"https://orcid.org/0009-0000-0221-9768"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ruijie Xu","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong"],"raw_orcid":"https://orcid.org/0009-0000-0221-9768","affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101935350","display_name":"Shichao Chen","orcid":"https://orcid.org/0000-0001-7677-4211"},"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/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shichao Chen","raw_affiliation_strings":["State Key Laboratory for Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7677-4211","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089923027","display_name":"Shiyu Bai","orcid":"https://orcid.org/0000-0002-3390-1185"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shiyu Bai","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-3390-1185","affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045346492","display_name":"Weisong Wen","orcid":"https://orcid.org/0000-0003-4158-0913"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Weisong Wen","raw_affiliation_strings":["Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-4158-0913","affiliations":[{"raw_affiliation_string":"Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.8585,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.97020465,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"73","issue":null,"first_page":"1","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9991000294685364,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9986000061035156,"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":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.8024299144744873},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.6928737759590149},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6579604744911194},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6146693825721741},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5462219715118408},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5340660214424133},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5251246094703674},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5079405903816223},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.42468133568763733},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3316902816295624},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3074266314506531},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.19778713583946228},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19128048419952393},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.17035415768623352},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14695140719413757},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.14639133214950562},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.09641197323799133}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8024299144744873},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.6928737759590149},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6579604744911194},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6146693825721741},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5462219715118408},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5340660214424133},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5251246094703674},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5079405903816223},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.42468133568763733},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3316902816295624},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3074266314506531},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.19778713583946228},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19128048419952393},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.17035415768623352},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14695140719413757},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.14639133214950562},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.09641197323799133},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2024.3451578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3451578","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":"Sustainable cities and communities","score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G3342368711","display_name":null,"funder_award_id":"2023ZDYF010150033","funder_id":"https://openalex.org/F4320336597","funder_display_name":"Key Research and Development Program of Wuhu"}],"funders":[{"id":"https://openalex.org/F4320336597","display_name":"Key Research and Development Program of Wuhu","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1536252645","https://openalex.org/W1896503986","https://openalex.org/W1998358366","https://openalex.org/W2004814601","https://openalex.org/W2011224697","https://openalex.org/W2023743272","https://openalex.org/W2050296473","https://openalex.org/W2054091988","https://openalex.org/W2056427752","https://openalex.org/W2068505620","https://openalex.org/W2079229733","https://openalex.org/W2106226434","https://openalex.org/W2118991694","https://openalex.org/W2123487311","https://openalex.org/W2130788112","https://openalex.org/W2145938889","https://openalex.org/W2151611062","https://openalex.org/W2413782574","https://openalex.org/W2416458563","https://openalex.org/W2480859604","https://openalex.org/W2770228878","https://openalex.org/W2782354506","https://openalex.org/W2806490809","https://openalex.org/W2896569940","https://openalex.org/W2945083325","https://openalex.org/W2978489487","https://openalex.org/W2995170636","https://openalex.org/W2997139328","https://openalex.org/W3009313554","https://openalex.org/W3033586993","https://openalex.org/W3083699381","https://openalex.org/W3145377020","https://openalex.org/W3156111275","https://openalex.org/W3200651243","https://openalex.org/W3211471773","https://openalex.org/W3216141008","https://openalex.org/W4200053387","https://openalex.org/W4214904529","https://openalex.org/W4225585096","https://openalex.org/W4226417484","https://openalex.org/W4283804624","https://openalex.org/W4312558115","https://openalex.org/W4313186437","https://openalex.org/W4315631875","https://openalex.org/W4319341461","https://openalex.org/W4367277056","https://openalex.org/W4379116806","https://openalex.org/W4383753343","https://openalex.org/W4388758292"],"related_works":["https://openalex.org/W2087485917","https://openalex.org/W3011156758","https://openalex.org/W4294113342","https://openalex.org/W2936887342","https://openalex.org/W4247347568","https://openalex.org/W4250716077","https://openalex.org/W3202473970","https://openalex.org/W4287993465","https://openalex.org/W4313886815","https://openalex.org/W3115461992"],"abstract_inverted_index":{"Urban":[0],"pedestrian":[1,84,105,135,182],"navigation":[2,14,107,140,232],"is":[3,18,37,61,147,208],"a":[4,62,102,119,218,227],"challenging":[5],"issue":[6],"as":[7,56],"the":[8,30,32,52,57,67,87,93,96,151,161,164,172,187,201,205,213,243],"most":[9],"popular":[10],"positioning":[11,237],"source,":[12],"global":[13],"satellite":[15],"systems":[16],"(GNSSs),":[17],"severely":[19],"affected":[20],"by":[21],"signal":[22],"reflections":[23],"or":[24,130],"blockages":[25],"from":[26],"high-rise":[27],"buildings.":[28],"Unlike":[29],"GNSS,":[31],"inertial":[33,106,139,231],"measurement":[34],"unit":[35],"(IMU)":[36],"less":[38],"sensitive":[39],"to":[40,47,111,127,149,159],"environmental":[41],"conditions":[42],"but":[43],"is,":[44],"unfortunately,":[45],"subject":[46],"drift":[48],"over":[49],"time.":[50],"Applying":[51],"motion":[53],"constraints,":[54],"such":[55],"zero-velocity":[58,71],"update":[59],"(ZUPT),":[60],"promising":[63],"solution":[64],"for":[65,233],"mitigating":[66],"drift.":[68],"However,":[69],"existing":[70],"(ZV)":[72],"detections":[73,132],"can":[74,175],"cause":[75],"false":[76,129],"results":[77,169],"in":[78,108,133],"urban":[79,109],"scenarios":[80],"involving":[81],"more":[82,178,184],"complex":[83,134],"motions.":[85,136],"Meanwhile,":[86,200],"IMU-based":[88],"model\u2019s":[89],"nonlinearity":[90],"further":[91],"reduces":[92],"accuracy":[94],"of":[95,153,163,204],"state":[97],"estimation.":[98],"This":[99],"article":[100],"proposes":[101],"nonlinearity-aware":[103],"ZUPT-aided":[104,138],"canyons":[110],"fill":[112],"this":[113],"gap.":[114],"Our":[115],"method":[116,174,207],"begins":[117],"with":[118,186,212],"gait":[120],"interval":[121],"(GI)-aided":[122],"dual-threshold":[123],"ZV":[124,177],"detection":[125],"scheme":[126],"prevent":[128],"missed":[131],"A":[137],"based":[141],"on":[142,210],"cubature":[143],"Kalman":[144,191,196],"filter":[145,192,197],"(CKF)":[146],"formed":[148],"mitigate":[150],"impact":[152],"nonlinearity.":[154],"Several":[155],"datasets":[156],"are":[157,239],"collected":[158],"validate":[160],"effectiveness":[162],"proposed":[165,173,206],"method.":[166,215],"The":[167],"experimental":[168],"demonstrate":[170],"that":[171],"detect":[176],"accurately":[179],"and":[180,194,223],"estimate":[181],"location":[183],"precisely":[185],"CKF":[188],"than":[189],"extended":[190],"(EKF)":[193],"unscented":[195],"(UKF)-based":[198],"methods.":[199],"time":[202],"consumption":[203],"essentially":[209],"par":[211],"UKF-based":[214],"It":[216],"achieves":[217],"balance":[219],"between":[220],"computational":[221],"efficiency":[222],"accuracy,":[224],"which":[225],"provides":[226],"low-drift":[228],"self-contained":[229],"real-time":[230],"pedestrians":[234],"when":[235],"external":[236],"data":[238],"unavailable.":[240],"To":[241],"benefit":[242],"research":[244],"community,":[245],"we":[246],"open-source":[247],"our":[248],"dataset":[249],"via":[250],"GitHub:":[251],"<uri":[252],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[253],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/RuijieXu0408/PINS-datasets-based-on-Xsens-IMU</uri>.":[254]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
