{"id":"https://openalex.org/W1982044840","doi":"https://doi.org/10.1109/upinlbs.2010.5653986","title":"Aiding MEMS IMU with building heading for indoor pedestrian navigation","display_name":"Aiding MEMS IMU with building heading for indoor pedestrian navigation","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W1982044840","doi":"https://doi.org/10.1109/upinlbs.2010.5653986","mag":"1982044840"},"language":"en","primary_location":{"id":"doi:10.1109/upinlbs.2010.5653986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs.2010.5653986","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 Ubiquitous Positioning Indoor Navigation and Location Based Service","raw_type":"proceedings-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/A5071645521","display_name":"Khairi Abdulrahim","orcid":"https://orcid.org/0000-0002-1751-9250"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"K. Abdulrahim","raw_affiliation_strings":["Institute of Engineering Surveying and Space Geodesy (IESSG), Nottingham, UK"],"affiliations":[{"raw_affiliation_string":"Institute of Engineering Surveying and Space Geodesy (IESSG), Nottingham, UK","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108715698","display_name":"C. Hide","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"C. Hide","raw_affiliation_strings":["Institute of Engineering Surveying and Space Geodesy (IESSG), Nottingham, UK"],"affiliations":[{"raw_affiliation_string":"Institute of Engineering Surveying and Space Geodesy (IESSG), Nottingham, UK","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003475182","display_name":"Terry Moore","orcid":"https://orcid.org/0000-0002-6169-059X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"T. Moore","raw_affiliation_strings":["Institute of Engineering Surveying and Space Geodesy (IESSG), Nottingham, UK"],"affiliations":[{"raw_affiliation_string":"Institute of Engineering Surveying and Space Geodesy (IESSG), Nottingham, UK","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027085806","display_name":"Chris Hill","orcid":"https://orcid.org/0000-0002-6914-4411"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"C. Hill","raw_affiliation_strings":["Institute of Engineering Surveying and Space Geodesy (IESSG), Nottingham, UK"],"affiliations":[{"raw_affiliation_string":"Institute of Engineering Surveying and Space Geodesy (IESSG), Nottingham, UK","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071645521"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.7523,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.93190487,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9993000030517578,"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":0.9993000030517578,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9739999771118164,"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"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9659000039100647,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.9480804204940796},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.911916971206665},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.7751882076263428},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6687621474266052},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6030874848365784},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5833102464675903},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.5444513559341431},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.4514729380607605},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.4443191885948181},{"id":"https://openalex.org/keywords/wind-triangle","display_name":"Wind triangle","score":0.4164712131023407},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3483634293079376},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2789750099182129},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2725485563278198},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25423693656921387},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.2472231090068817},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.1820591390132904},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09240338206291199},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07033407688140869}],"concepts":[{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.9480804204940796},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.911916971206665},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.7751882076263428},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6687621474266052},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6030874848365784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5833102464675903},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.5444513559341431},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.4514729380607605},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.4443191885948181},{"id":"https://openalex.org/C178001088","wikidata":"https://www.wikidata.org/wiki/Q2583453","display_name":"Wind triangle","level":5,"score":0.4164712131023407},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3483634293079376},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2789750099182129},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2725485563278198},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25423693656921387},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2472231090068817},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.1820591390132904},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09240338206291199},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07033407688140869},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/upinlbs.2010.5653986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/upinlbs.2010.5653986","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 Ubiquitous Positioning Indoor Navigation and Location Based Service","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W122685171","https://openalex.org/W1564768010","https://openalex.org/W1569179667","https://openalex.org/W1995376165","https://openalex.org/W2056427752","https://openalex.org/W2083821388","https://openalex.org/W2095877926","https://openalex.org/W2145023731","https://openalex.org/W2146281902","https://openalex.org/W2154016062","https://openalex.org/W2187443218","https://openalex.org/W2613746237","https://openalex.org/W4250533120","https://openalex.org/W6634040119","https://openalex.org/W6687090168","https://openalex.org/W6737816587","https://openalex.org/W6981374524"],"related_works":["https://openalex.org/W2131486049","https://openalex.org/W2372914481","https://openalex.org/W2008882664","https://openalex.org/W3144787046","https://openalex.org/W4213313094","https://openalex.org/W1590923801","https://openalex.org/W2367746641","https://openalex.org/W2766759697","https://openalex.org/W2089074378","https://openalex.org/W2611089416"],"abstract_inverted_index":{"Heading":[0],"drift":[1,46],"error":[2,21,98],"remains":[3],"a":[4,7,27,77,108],"problem":[5],"in":[6,39,76],"standalone":[8],"navigation":[9,49],"system":[10],"that":[11,60],"uses":[12],"only":[13],"low":[14,109],"cost":[15,110],"MEMS":[16,58,111],"IMU":[17,30,59,112],"due":[18],"to":[19,43],"yaw":[20],"unobservability.":[22],"This":[23],"paper":[24],"therefore":[25],"proposes":[26],"shoe":[28],"mounted":[29],"approach,":[31],"integrated":[32],"with":[33,86],"ZUPT":[34],"and":[35,63,70,89],"building":[36],"heading":[37,45],"information":[38],"Kalman":[40],"filter":[41],"environment":[42],"reduce":[44],"for":[47],"pedestrian":[48],"application.":[50],"There":[51],"were":[52,74,83],"no":[53],"additional":[54],"sensors":[55],"used":[56],"except":[57],"contains":[61],"accelerometers":[62],"gyros.":[64],"Two":[65],"trials;":[66],"represented":[67],"by":[68],"regular":[69],"irregular":[71],"walking":[72],"trials,":[73,95],"undertaken":[75],"typical":[78],"public":[79],"building.":[80],"The":[81],"results":[82],"then":[84],"compared":[85],"HSGPS":[87],"solution":[88],"IMU+ZUPT":[90],"solution.":[91],"Based":[92],"on":[93],"these":[94],"return":[96],"position":[97],"of":[99],"0.1%":[100],"from":[101],"total":[102],"distance":[103],"travelled":[104],"was":[105],"achieved":[106],"using":[107],"only.":[113]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}