{"id":"https://openalex.org/W150665491","doi":"https://doi.org/10.1109/tvt.2015.2396640","title":"Indoor Positioning Using Ultrawideband and Inertial Measurements","display_name":"Indoor Positioning Using Ultrawideband and Inertial Measurements","publication_year":2015,"publication_date":"2015-01-26","ids":{"openalex":"https://openalex.org/W150665491","doi":"https://doi.org/10.1109/tvt.2015.2396640","mag":"150665491"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2015.2396640","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2015.2396640","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-118060","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017416513","display_name":"Manon Kok","orcid":"https://orcid.org/0000-0002-2441-2240"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Manon Kok","raw_affiliation_strings":["Department of Electrical Engineering, Link\u00f6ping University, Link\u00f6ping, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Link\u00f6ping University, Link\u00f6ping, Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025558202","display_name":"Jeroen D. Hol","orcid":null},"institutions":[{"id":"https://openalex.org/I4210102208","display_name":"Xsens (Netherlands)","ror":"https://ror.org/0190g0e24","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210102208"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jeroen D. Hol","raw_affiliation_strings":["Xsens Technologies B.V., AN Enschede, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Xsens Technologies B.V., AN Enschede, The Netherlands","institution_ids":["https://openalex.org/I4210102208"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083090794","display_name":"Thomas B. Sch\u00f6n","orcid":"https://orcid.org/0000-0001-5183-234X"},"institutions":[{"id":"https://openalex.org/I123387679","display_name":"Uppsala University","ror":"https://ror.org/048a87296","country_code":"SE","type":"education","lineage":["https://openalex.org/I123387679"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Thomas B. Schon","raw_affiliation_strings":["Department of Information Technology, Uppsala University, Uppsala, Sweden"],"affiliations":[{"raw_affiliation_string":"Department of Information Technology, Uppsala University, Uppsala, Sweden","institution_ids":["https://openalex.org/I123387679"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5017416513"],"corresponding_institution_ids":["https://openalex.org/I102134673"],"apc_list":null,"apc_paid":null,"fwci":2.4086,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.89345085,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"64","issue":"4","first_page":"1293","last_page":"1303"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9962000250816345,"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":0.9962000250816345,"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":0.9883999824523926,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9883000254631042,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.8857409358024597},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.7561427354812622},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.7018535733222961},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6865968108177185},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5450788140296936},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5371540188789368},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5306483507156372},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5216936469078064},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5133963823318481},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45840030908584595},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4357995390892029},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.435454398393631},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.433596134185791},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4232403635978699},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.42064470052719116},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39653271436691284},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37470847368240356},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.26339393854141235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2615688443183899},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13532868027687073},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12532618641853333}],"concepts":[{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.8857409358024597},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.7561427354812622},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.7018535733222961},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6865968108177185},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5450788140296936},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5371540188789368},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5306483507156372},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5216936469078064},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5133963823318481},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45840030908584595},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4357995390892029},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.435454398393631},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.433596134185791},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4232403635978699},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.42064470052719116},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39653271436691284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37470847368240356},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.26339393854141235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2615688443183899},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13532868027687073},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12532618641853333},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tvt.2015.2396640","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2015.2396640","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"},{"id":"pmh:oai:DiVA.org:liu-118060","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-118060","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article in journal"},{"id":"mag:150665491","is_oa":false,"landing_page_url":"http://www.diva-portal.org/smash/record.jsf?pid=diva2%3A719172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:DiVA.org:liu-118060","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-118060","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article in journal"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3337520913","display_name":null,"funder_award_id":"621-2013-5524","funder_id":"https://openalex.org/F4320322581","funder_display_name":"Vetenskapsr\u00e5det"},{"id":"https://openalex.org/G7343941351","display_name":null,"funder_award_id":"Linnaeus","funder_id":"https://openalex.org/F4320322581","funder_display_name":"Vetenskapsr\u00e5det"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322581","display_name":"Vetenskapsr\u00e5det","ror":"https://ror.org/03zttf063"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W49245685","https://openalex.org/W1542648184","https://openalex.org/W1988543519","https://openalex.org/W1999177119","https://openalex.org/W2012462772","https://openalex.org/W2029780423","https://openalex.org/W2056842608","https://openalex.org/W2091739020","https://openalex.org/W2104479788","https://openalex.org/W2115969888","https://openalex.org/W2120350100","https://openalex.org/W2131756873","https://openalex.org/W2132240870","https://openalex.org/W2135401627","https://openalex.org/W2148311197","https://openalex.org/W2150952698","https://openalex.org/W2154016062","https://openalex.org/W2163817142","https://openalex.org/W4250589301","https://openalex.org/W6641893945","https://openalex.org/W6643063527","https://openalex.org/W6661160762","https://openalex.org/W6679298779"],"related_works":["https://openalex.org/W2085069379","https://openalex.org/W3046133350","https://openalex.org/W2094227853","https://openalex.org/W2086412156","https://openalex.org/W202378555","https://openalex.org/W2135764620","https://openalex.org/W309433895","https://openalex.org/W2152143540","https://openalex.org/W2077751272","https://openalex.org/W3121173647","https://openalex.org/W2015742518","https://openalex.org/W2102344727","https://openalex.org/W2130181825","https://openalex.org/W1525464760","https://openalex.org/W2099965728","https://openalex.org/W3206733699","https://openalex.org/W2130410200","https://openalex.org/W2140924050","https://openalex.org/W2563014894","https://openalex.org/W2544723405"],"abstract_inverted_index":{"In":[0],"this":[1,124],"paper,":[2],"we":[3,37,107],"present":[4,109],"an":[5,20,52,73,110],"approach":[6],"to":[7,58,60,69,81,113,137],"combine":[8],"measurements":[9,18,128,162],"from":[10,19,72,85],"inertial":[11],"sensors":[12],"(accelerometers":[13],"and":[14,64,100],"gyroscopes)":[15],"with":[16],"time-of-arrival":[17],"ultrawideband":[21],"(UWB)":[22],"system":[23,117],"for":[24,139],"indoor":[25],"positioning.":[26],"Our":[27],"algorithm":[28,112],"uses":[29],"a":[30,42,44,119,132,164],"tightly":[31],"coupled":[32],"sensor":[33],"fusion":[34],"approach,":[35],"where":[36],"formulate":[38],"the":[39,86,96,115,126,155,160],"problem":[40,47],"as":[41,151],"maximum":[43],"posteriori":[45],"(MAP)":[46],"that":[48,92],"is":[49,56,90],"solved":[50],"using":[51,118,159],"optimization":[53],"approach.":[54,167],"It":[55],"shown":[57,152],"lead":[59],"accurate":[61,93],"6-D":[62],"position":[63,83,156],"orientation":[65],"estimates":[66,94,157],"when":[67],"compared":[68],"reference":[70],"data":[71],"independent":[74],"optical":[75],"tracking":[76],"system.":[77],"To":[78],"be":[79],"able":[80],"obtain":[82],"information":[84],"UWB":[87,97,116,127,161],"measurements,":[88],"it":[89],"imperative":[91],"of":[95],"receivers'":[98],"positions":[99],"their":[101],"clock":[102],"offsets":[103],"are":[104,129],"available.":[105],"Hence,":[106],"also":[108],"easy-to-use":[111],"calibrate":[114],"maximum-likelihood":[120],"(ML)":[121],"formulation.":[122],"Throughout":[123],"work,":[125],"modeled":[130],"by":[131,153],"tailored":[133],"heavy-tailed":[134,143],"asymmetric":[135,144],"distribution":[136,145],"account":[138],"measurement":[140],"outliers.":[141],"The":[142],"works":[146],"well":[147],"on":[148],"experimental":[149],"data,":[150],"analyzing":[154],"obtained":[158],"via":[163],"novel":[165],"multilateration":[166]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
