{"id":"https://openalex.org/W7081921453","doi":"https://doi.org/10.1109/tmc.2025.3608822","title":"A Multi-Layer Position-Pose Fusion Framework for Joint Magnetoquasistatic Field and IMU Positioning","display_name":"A Multi-Layer Position-Pose Fusion Framework for Joint Magnetoquasistatic Field and IMU Positioning","publication_year":2025,"publication_date":"2025-09-12","ids":{"openalex":"https://openalex.org/W7081921453","doi":"https://doi.org/10.1109/tmc.2025.3608822"},"language":"en","primary_location":{"id":"doi:10.1109/tmc.2025.3608822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2025.3608822","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Mobile Computing","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":null,"display_name":"Bocheng Qian","orcid":"https://orcid.org/0009-0006-2935-1623"},"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":"Bocheng Qian","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0006-2935-1623","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lei Huang","orcid":null},"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":"Lei Huang","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiansheng Guo","orcid":"https://orcid.org/0000-0002-8440-1607"},"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":"Xiansheng Guo","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-8440-1607","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Gordon Owusu Boateng","orcid":null},"institutions":[{"id":"https://openalex.org/I69356397","display_name":"Xi\u2019an Jiaotong-Liverpool University","ror":"https://ror.org/03zmrmn05","country_code":"CN","type":"education","lineage":["https://openalex.org/I69356397"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gordon Owusu Boateng","raw_affiliation_strings":["Department of Communications and Networking, Xi&#x2019;an Jiaotong-Liverpool University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Communications and Networking, Xi&#x2019;an Jiaotong-Liverpool University, Suzhou, China","institution_ids":["https://openalex.org/I69356397"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Rui Ma","orcid":"https://orcid.org/0009-0001-1711-1407"},"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":"Rui Ma","raw_affiliation_strings":["School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0001-1711-1407","affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":null,"display_name":"Nirwan Ansari","orcid":"https://orcid.org/0000-0001-8541-3565"},"institutions":[{"id":"https://openalex.org/I118118575","display_name":"New Jersey Institute of Technology","ror":"https://ror.org/05e74xb87","country_code":"US","type":"education","lineage":["https://openalex.org/I118118575"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nirwan Ansari","raw_affiliation_strings":["Advanced Networking Laboratory, Department of Electrical and Computer Engineering, New Jersey Institute of Technology, Newark, NJ, USA"],"raw_orcid":"https://orcid.org/0000-0001-8541-3565","affiliations":[{"raw_affiliation_string":"Advanced Networking Laboratory, Department of Electrical and Computer Engineering, New Jersey Institute of Technology, Newark, NJ, USA","institution_ids":["https://openalex.org/I118118575"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150229711"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.60069444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"25","issue":"2","first_page":"2843","last_page":"2859"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10087","display_name":"Archaeology and ancient environmental studies","score":0.23909999430179596,"subfield":{"id":"https://openalex.org/subfields/1911","display_name":"Paleontology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10087","display_name":"Archaeology and ancient environmental studies","score":0.23909999430179596,"subfield":{"id":"https://openalex.org/subfields/1911","display_name":"Paleontology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10421","display_name":"Pleistocene-Era Hominins and Archaeology","score":0.20059999823570251,"subfield":{"id":"https://openalex.org/subfields/3314","display_name":"Anthropology"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T13939","display_name":"Archaeology and Natural History","score":0.10899999737739563,"subfield":{"id":"https://openalex.org/subfields/3314","display_name":"Anthropology"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8420000076293945},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.6736999750137329},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6326000094413757},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5249999761581421},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4097999930381775},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.40470001101493835},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.3953999876976013},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.3917999863624573}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8420000076293945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6985999941825867},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.6736999750137329},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6326000094413757},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5895000100135803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5478000044822693},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5249999761581421},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4097999930381775},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.40470001101493835},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3953999876976013},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.3917999863624573},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.3864000141620636},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.3529999852180481},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.3327000141143799},{"id":"https://openalex.org/C173414695","wikidata":"https://www.wikidata.org/wiki/Q5510276","display_name":"Fusion mechanism","level":4,"score":0.30889999866485596},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2921999990940094},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2702000141143799},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.26980000734329224},{"id":"https://openalex.org/C151233233","wikidata":"https://www.wikidata.org/wiki/Q47574","display_name":"Units of measurement","level":2,"score":0.26820001006126404},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.2581999897956848},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tmc.2025.3608822","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tmc.2025.3608822","pdf_url":null,"source":{"id":"https://openalex.org/S69141925","display_name":"IEEE Transactions on Mobile Computing","issn_l":"1536-1233","issn":["1536-1233","1558-0660","2161-9875"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Mobile Computing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5129411042","display_name":null,"funder_award_id":"62171086","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1908867029","https://openalex.org/W2071674008","https://openalex.org/W2281731205","https://openalex.org/W2557998141","https://openalex.org/W2745859992","https://openalex.org/W2944778709","https://openalex.org/W2973987300","https://openalex.org/W2980891790","https://openalex.org/W2985031189","https://openalex.org/W3006301192","https://openalex.org/W3134978027","https://openalex.org/W3169503372","https://openalex.org/W3193919942","https://openalex.org/W3211218032","https://openalex.org/W4206624308","https://openalex.org/W4290712936","https://openalex.org/W4317796711","https://openalex.org/W4319996257","https://openalex.org/W4383753343","https://openalex.org/W4385656085","https://openalex.org/W4386634169","https://openalex.org/W4388240498","https://openalex.org/W4388430607","https://openalex.org/W4389232795","https://openalex.org/W4390603951","https://openalex.org/W4390604097","https://openalex.org/W4392607709","https://openalex.org/W4402027501","https://openalex.org/W4406028241","https://openalex.org/W4406207591","https://openalex.org/W4408145406"],"related_works":[],"abstract_inverted_index":{"Magnetoquasistatic":[0],"(MQS)":[1],"field":[2,62,93,153,182],"positioning":[3,65,251],"has":[4],"demonstrated":[5],"significant":[6],"potential":[7],"for":[8],"emergency":[9,233],"rescue":[10],"applications":[11],"due":[12],"to":[13,66,97,149,184],"its":[14,22],"strong":[15,236],"penetration":[16],"and":[17,30,48,63,100,130,155,179,205,217,228,257,263],"non-reliance":[18],"on":[19],"pre-deployment.":[20],"However,":[21],"accuracy":[23,252],"is":[24],"notably":[25],"impaired":[26],"by":[27,46,198],"metal":[28,47],"interference":[29],"distance":[31],"attenuation.":[32],"Inertial":[33],"Measurement":[34],"Units":[35],"(IMUs)":[36],"can":[37],"reliably":[38],"provide":[39],"motion":[40,177],"data":[41,96],"even":[42],"in":[43,231,240,250],"environments":[44,242],"affected":[45],"electromagnetic":[49],"interference,":[50],"but":[51],"they":[52],"suffer":[53],"from":[54,171],"cumulative":[55],"drift":[56],"over":[57,259],"time.":[58],"Effectively,":[59],"combining":[60],"MQS":[61,92,181],"IMU":[64,95,156],"harness":[67],"their":[68],"respective":[69],"advantages":[70],"presents":[71],"a":[72,80,109,119,131,192],"crucial":[73],"challenge.":[74],"To":[75],"address":[76],"this,":[77],"we":[78],"propose":[79],"<italic":[81,110,120,132],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[82,87,111,117,121,128,133,139],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Multi-Layer":[83],"Position-Pose":[84,135],"Fusion</i>":[85],"(<italic":[86,116,127,138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">MP2F</i>)":[88],"framework":[89,105,224],"that":[90,220,244],"integrates":[91],"with":[94,235],"enhance":[98],"position":[99,227],"pose":[101,161,169,229],"estimation.":[102,213],"The":[103],"MP2F":[104,223,247],"comprises":[106],"three":[107],"layers:":[108],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Quaternion-based":[112],"Pose":[113],"Fusion":[114,125,136],"Layer</i>":[115,126,137],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">QPFL</i>),":[118],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Kalman":[122],"Filter-based":[123],"Position":[124],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">KFFL</i>),":[129],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Global":[134],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">GP2FL</i>).":[140],"Specifically,":[141],"QPFL":[142,172],"utilizes":[143],"the":[144,167,221,245],"Extended":[145],"Kalman":[146,206],"Filter":[147],"(EKF)":[148],"effectively":[150],"mitigate":[151],"magnetic":[152],"distortion":[154],"drift,":[157],"thereby":[158],"significantly":[159],"enhancing":[160],"estimation":[162,170,230],"precision.":[163],"Next,":[164],"KFFL":[165],"incorporates":[166],"fused":[168],"into":[173],"an":[174],"inertial":[175,202],"navigation":[176],"model,":[178],"leverages":[180],"observations":[183],"further":[185],"improve":[186],"positional":[187],"accuracy.":[188],"Finally,":[189],"GP2FL":[190],"formulates":[191],"nonlinear":[193],"least":[194],"squares":[195],"optimization":[196],"problem":[197],"marginalizing":[199],"prior":[200],"factors,":[201,204],"sensor":[203],"fusion":[207],"outputs,":[208],"enabling":[209],"globally":[210],"optimized":[211],"state":[212],"Comprehensive":[214],"simulation":[215],"results":[216,239],"analyses":[218],"prove":[219],"proposed":[222,246],"achieves":[225,248],"high-precision":[226],"complex":[232],"scenarios,":[234],"robustness.":[237],"Experimental":[238],"real-world":[241],"show":[243],"improvements":[249],"of":[253],"61.1%,":[254],"58.7%,":[255],"48.4%,":[256],"50.2%":[258],"EKF,":[260],"iMag+,":[261],"GWO-PF,":[262],"MagLoc,":[264],"respectively.":[265]},"counts_by_year":[],"updated_date":"2026-01-11T23:08:45.486102","created_date":"2025-10-10T00:00:00"}
