{"id":"https://openalex.org/W4403447061","doi":"https://doi.org/10.1109/tim.2024.3481552","title":"A Tightly Coupled Method for Indoor Vehicle Navigation Based on Smartphone IMU and BLE","display_name":"A Tightly Coupled Method for Indoor Vehicle Navigation Based on Smartphone IMU and BLE","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4403447061","doi":"https://doi.org/10.1109/tim.2024.3481552"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2024.3481552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3481552","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/A5052339567","display_name":"Y. Liu","orcid":"https://orcid.org/0000-0003-4699-8972"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuhong Liu","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-4699-8972","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044606174","display_name":"Chang Wu","orcid":"https://orcid.org/0000-0003-2349-2549"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Wu","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-2349-2549","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091303936","display_name":"Xiaotong Kong","orcid":"https://orcid.org/0000-0002-3540-6233"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaotong Kong","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-3540-6233","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102777768","display_name":"Xiaoqi Du","orcid":"https://orcid.org/0000-0001-6141-0132"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqi Du","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0001-6141-0132","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044934536","display_name":"Yuan You","orcid":"https://orcid.org/0000-0002-1951-5931"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan You","raw_affiliation_strings":["Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-1951-5931","affiliations":[{"raw_affiliation_string":"Institute of Information and Communication Engineering, University of Electronic Science and Technology of China (UESTC), Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5052339567"],"corresponding_institution_ids":["https://openalex.org/I150229711"],"apc_list":null,"apc_paid":null,"fwci":2.1681,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.90609396,"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":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12799","display_name":"Mobile and Web Applications","score":0.8697999715805054,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12799","display_name":"Mobile and Web Applications","score":0.8697999715805054,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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/T13924","display_name":"Internet of Things and Social Network Interactions","score":0.8087000250816345,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12222","display_name":"IoT-based Smart Home Systems","score":0.7168999910354614,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7532556056976318},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5956335663795471},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.546135425567627},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.45684659481048584},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.44741031527519226},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.34606826305389404},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2582913041114807},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.18891671299934387},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10662278532981873}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7532556056976318},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5956335663795471},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.546135425567627},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.45684659481048584},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.44741031527519226},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.34606826305389404},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2582913041114807},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.18891671299934387},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10662278532981873},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"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.2024.3481552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2024.3481552","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1979182502","https://openalex.org/W2011632936","https://openalex.org/W2017834411","https://openalex.org/W2121514940","https://openalex.org/W2121862004","https://openalex.org/W2187651543","https://openalex.org/W2309512289","https://openalex.org/W2745859992","https://openalex.org/W2806729898","https://openalex.org/W2884692898","https://openalex.org/W2902665329","https://openalex.org/W2908979191","https://openalex.org/W2947413976","https://openalex.org/W2964807617","https://openalex.org/W3000004788","https://openalex.org/W3008306575","https://openalex.org/W3114645126","https://openalex.org/W3132834417","https://openalex.org/W3134655109","https://openalex.org/W3135150944","https://openalex.org/W3137066621","https://openalex.org/W3166587319","https://openalex.org/W3167119432","https://openalex.org/W4214904529","https://openalex.org/W4294891546","https://openalex.org/W4312298166","https://openalex.org/W4317642787","https://openalex.org/W4324268352"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W2992410632","https://openalex.org/W2025756212","https://openalex.org/W2515362195","https://openalex.org/W3185063647","https://openalex.org/W2156308897","https://openalex.org/W2383292636","https://openalex.org/W2364900391","https://openalex.org/W4313886815","https://openalex.org/W2038183074"],"abstract_inverted_index":{"Nowadays,":[0],"smartphone-based":[1,36],"localization,":[2],"which":[3,258],"is":[4,132,138,151,248],"the":[5,107,129,136,143,147,156,171,192,207,211,214,217,261],"most":[6,61],"common":[7],"way":[8],"for":[9,222],"car":[10],"drivers":[11],"to":[12,54,69,73,106,155,213,254],"navigate,":[13],"has":[14],"attracted":[15],"considerable":[16],"attention.":[17],"In":[18],"environments":[19],"where":[20],"global":[21],"positioning":[22,88,102,149,167,181,228,262,268],"system":[23],"(GPS)":[24],"signals":[25],"are":[26,63,236],"obstructed,":[27],"such":[28],"as":[29],"indoor":[30,87,179,267],"parking":[31],"lots":[32],"and":[33,44,83,99,115,182,189,198,216,226,233,264],"large":[34],"tunnels,":[35],"localization":[37],"methods":[38,48,89],"still":[39],"face":[40],"challenges":[41],"in":[42,250],"accuracy":[43,265],"update":[45,144],"frequency.":[46,229],"Current":[47],"utilize":[49],"inertial":[50,208],"measurement":[51],"units":[52],"(IMUs)":[53],"achieve":[55,97],"short-term,":[56],"high-accuracy":[57],"position":[58,234],"estimation.":[59,103],"However,":[60,104],"smartphones":[62],"equipped":[64],"with":[65],"low-precision":[66],"IMU":[67,188,231],"due":[68,105,154],"cost":[70],"constraints,":[71],"leading":[72],"significant":[74],"cumulative":[75],"errors":[76],"over":[77],"time":[78],"caused":[79],"by":[80],"sensor":[81],"noise":[82],"external":[84],"interference.":[85],"Moreover,":[86],"based":[90,185],"on":[91,186],"Bluetooth":[92],"low":[93],"energy":[94],"(BLE)":[95],"can":[96,124],"long-term":[98],"higher":[100],"precision":[101],"limitation":[108],"of":[109,117,146,159,195,266],"smartphone":[110,187,212],"power":[111],"consumption,":[112],"real-time":[113],"scanning":[114,130],"response":[116],"BLE":[118,122,223],"cannot":[119],"be":[120,126],"achieved.":[121],"scans":[123],"only":[125],"returned":[127],"after":[128],"cycle":[131],"completed.":[133],"Therefore,":[134],"when":[135],"vehicle":[137,180],"moving":[139],"at":[140],"high":[141],"speed,":[142],"frequency":[145,263],"BLE-based":[148],"method":[150],"lower.":[152],"Furthermore,":[153],"asynchronous":[157],"reception":[158],"BLE,":[160,190],"motion":[161,224],"distortion":[162,225],"will":[163],"occur,":[164],"seriously":[165],"affecting":[166],"accuracy.":[168],"To":[169],"address":[170],"above":[172],"problems,":[173],"we":[174],"propose":[175],"a":[176,239],"tightly":[177,240],"coupled":[178,241],"navigation":[183],"algorithm":[184,205,220,247],"named":[191],"CFBS":[193],"(Synthesis":[194],"Coordinate":[196],"transformation":[197,204],"Forward-Backward":[199],"propagation)":[200],"algorithm.":[201],"The":[202],"coordinate":[203],"converts":[206],"dynamics":[209],"from":[210],"vehicle,":[215],"backward":[218],"propagation":[219],"compensates":[221],"enhances":[227],"Finally,":[230],"bias":[232],"estimation":[235],"achieved":[237],"using":[238],"extended":[242],"Kalman":[243],"filter":[244],"(EKF).":[245],"Our":[246],"tested":[249],"real":[251],"business":[252],"scenarios":[253],"verify":[255],"its":[256],"effect,":[257],"effectively":[259],"improves":[260],"services":[269],"(ILBS).":[270]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-13T08:25:38.343686","created_date":"2025-10-10T00:00:00"}