{"id":"https://openalex.org/W1976867558","doi":"https://doi.org/10.1155/asp/2006/43429","title":"Robust Estimator for Non-Line-of-Sight Error Mitigation in Indoor Localization","display_name":"Robust Estimator for Non-Line-of-Sight Error Mitigation in Indoor Localization","publication_year":2006,"publication_date":"2006-04-16","ids":{"openalex":"https://openalex.org/W1976867558","doi":"https://doi.org/10.1155/asp/2006/43429","mag":"1976867558"},"language":"en","primary_location":{"id":"doi:10.1155/asp/2006/43429","is_oa":true,"landing_page_url":"https://doi.org/10.1155/asp/2006/43429","pdf_url":"https://asp-eurasipjournals.springeropen.com/counter/pdf/10.1155/ASP/2006/43429","source":{"id":"https://openalex.org/S35920007","display_name":"EURASIP Journal on Advances in Signal Processing","issn_l":"1687-6172","issn":["1687-6172","1687-6180"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"EURASIP Journal on Advances in Signal Processing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://asp-eurasipjournals.springeropen.com/counter/pdf/10.1155/ASP/2006/43429","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087861130","display_name":"Roberto Casas","orcid":"https://orcid.org/0000-0001-5316-8171"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"R. Casas","raw_affiliation_strings":["Department of Electronic Engineering, Technical University of Catalonia, Castelldefels, Barcelona, 08860, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Technical University of Catalonia, Castelldefels, Barcelona, 08860, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001982665","display_name":"\u00c1lvaro Marco","orcid":"https://orcid.org/0000-0002-7396-7840"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"A. Marco","raw_affiliation_strings":["Department of Computer Science and Systems Engineering, University of Zaragoza, Zaragoza, 50018, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Systems Engineering, University of Zaragoza, Zaragoza, 50018, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088447291","display_name":"J.J. Guerrero","orcid":"https://orcid.org/0000-0001-5209-2267"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. J. Guerrero","raw_affiliation_strings":["Arag\u00f3n Institute for Engineering Research (I3A), University of Zaragoza, Zaragoza, 50018, Spain","Department of Computer Science and Systems Engineering, University of Zaragoza, Zaragoza, 50018, Spain"],"affiliations":[{"raw_affiliation_string":"Arag\u00f3n Institute for Engineering Research (I3A), University of Zaragoza, Zaragoza, 50018, Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Department of Computer Science and Systems Engineering, University of Zaragoza, Zaragoza, 50018, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032712668","display_name":"Jos\u00e9 Mar\u00eda Falc\u00f3 Boudet","orcid":"https://orcid.org/0000-0002-8065-9889"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"J. Falc\u00f3","raw_affiliation_strings":["Arag\u00f3n Institute for Engineering Research (I3A), University of Zaragoza, Zaragoza, 50018, Spain","Electronics and Communications Department, University of Zaragoza, Zaragoza, 50018, Spain"],"affiliations":[{"raw_affiliation_string":"Arag\u00f3n Institute for Engineering Research (I3A), University of Zaragoza, Zaragoza, 50018, Spain","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Electronics and Communications Department, University of Zaragoza, Zaragoza, 50018, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087861130"],"corresponding_institution_ids":["https://openalex.org/I9617848"],"apc_list":{"value":1140,"currency":"GBP","value_usd":1398},"apc_paid":{"value":1140,"currency":"GBP","value_usd":1398},"fwci":9.5528,"has_fulltext":true,"cited_by_count":149,"citation_normalized_percentile":{"value":0.98231237,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"2006","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":1.0,"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":1.0,"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":0.9950000047683716,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9850000143051147,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/non-line-of-sight-propagation","display_name":"Non-line-of-sight propagation","score":0.9632776975631714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8069947957992554},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7311626076698303},{"id":"https://openalex.org/keywords/multilateration","display_name":"Multilateration","score":0.6792310476303101},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6046310067176819},{"id":"https://openalex.org/keywords/bluetooth","display_name":"Bluetooth","score":0.5019865036010742},{"id":"https://openalex.org/keywords/trilateration","display_name":"Trilateration","score":0.4699428677558899},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42297008633613586},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.22633865475654602},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.18278181552886963},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.16308507323265076},{"id":"https://openalex.org/keywords/triangulation","display_name":"Triangulation","score":0.09006392955780029},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08814290165901184}],"concepts":[{"id":"https://openalex.org/C154910267","wikidata":"https://www.wikidata.org/wiki/Q1740982","display_name":"Non-line-of-sight propagation","level":3,"score":0.9632776975631714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8069947957992554},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7311626076698303},{"id":"https://openalex.org/C104037064","wikidata":"https://www.wikidata.org/wiki/Q1640884","display_name":"Multilateration","level":3,"score":0.6792310476303101},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6046310067176819},{"id":"https://openalex.org/C546215728","wikidata":"https://www.wikidata.org/wiki/Q39531","display_name":"Bluetooth","level":3,"score":0.5019865036010742},{"id":"https://openalex.org/C20832178","wikidata":"https://www.wikidata.org/wiki/Q1146298","display_name":"Trilateration","level":3,"score":0.4699428677558899},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42297008633613586},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.22633865475654602},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.18278181552886963},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.16308507323265076},{"id":"https://openalex.org/C135981907","wikidata":"https://www.wikidata.org/wiki/Q188056","display_name":"Triangulation","level":2,"score":0.09006392955780029},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08814290165901184},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1155/asp/2006/43429","is_oa":true,"landing_page_url":"https://doi.org/10.1155/asp/2006/43429","pdf_url":"https://asp-eurasipjournals.springeropen.com/counter/pdf/10.1155/ASP/2006/43429","source":{"id":"https://openalex.org/S35920007","display_name":"EURASIP Journal on Advances in Signal Processing","issn_l":"1687-6172","issn":["1687-6172","1687-6180"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"EURASIP Journal on Advances in Signal Processing","raw_type":"journal-article"},{"id":"pmh:oai:zaguan.unizar.es:149994","is_oa":false,"landing_page_url":"http://zaguan.unizar.es/record/149994","pdf_url":null,"source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:doaj.org/article:65fab1997b1a46078c9dda46031da837","is_oa":true,"landing_page_url":"https://doaj.org/article/65fab1997b1a46078c9dda46031da837","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"EURASIP Journal on Advances in Signal Processing, Vol 2006, Iss 1, p 043429 (2006)","raw_type":"article"},{"id":"pmh:oai:zenodo.org:14760517","is_oa":true,"landing_page_url":"https://doi.org/10.1155/ASP/2006/43429","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Eurasip Journal On Applied Signal Processing, 2006, 1-8, (2006-12-01)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1155/asp/2006/43429","is_oa":true,"landing_page_url":"https://doi.org/10.1155/asp/2006/43429","pdf_url":"https://asp-eurasipjournals.springeropen.com/counter/pdf/10.1155/ASP/2006/43429","source":{"id":"https://openalex.org/S35920007","display_name":"EURASIP Journal on Advances in Signal Processing","issn_l":"1687-6172","issn":["1687-6172","1687-6180"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"EURASIP Journal on Advances in Signal Processing","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1976867558.pdf","grobid_xml":"https://content.openalex.org/works/W1976867558.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1522959953","https://openalex.org/W1584920463","https://openalex.org/W1832044323","https://openalex.org/W2050402693","https://openalex.org/W2058009001","https://openalex.org/W2080758421","https://openalex.org/W2085261163","https://openalex.org/W2100536520","https://openalex.org/W2105562580","https://openalex.org/W2112737587","https://openalex.org/W2128398671","https://openalex.org/W2128587884","https://openalex.org/W2128624998","https://openalex.org/W2129249398","https://openalex.org/W2130326036","https://openalex.org/W2130945928","https://openalex.org/W2137606563","https://openalex.org/W2138114662","https://openalex.org/W2143447014","https://openalex.org/W2153693539","https://openalex.org/W2154347068","https://openalex.org/W2163093583","https://openalex.org/W2166597726","https://openalex.org/W2170102584","https://openalex.org/W2498631646","https://openalex.org/W2540877599","https://openalex.org/W2599509984","https://openalex.org/W4213129550","https://openalex.org/W4298028584"],"related_works":["https://openalex.org/W1970524074","https://openalex.org/W2391980879","https://openalex.org/W1636339314","https://openalex.org/W4287993193","https://openalex.org/W2799362944","https://openalex.org/W2995924631","https://openalex.org/W2903220199","https://openalex.org/W2083509671","https://openalex.org/W1978001812","https://openalex.org/W4307018408"],"abstract_inverted_index":{"Indoor":[0],"localization":[1],"systems":[2],"are":[3,43],"undoubtedly":[4],"of":[5,41,52,56,59,69,98],"interest":[6],"in":[7,79,102,118,128],"many":[8,27],"application":[9],"fields.":[10],"Like":[11],"outdoor":[12],"systems,":[13],"they":[14],"suffer":[15],"from":[16,148],"non-line-of-sight":[17],"(NLOS)":[18],"errors":[19],"which":[20],"hinder":[21],"their":[22],"robustness":[23],"and":[24,58,75,107,138],"accuracy.":[25],"Though":[26],"ad":[28],"hoc":[29],"techniques":[30,72],"have":[31],"been":[32],"developed":[33],"to":[34,48,73,94,114],"deal":[35],"with":[36,104,136],"this":[37,63],"problem,":[38],"unfortunately":[39],"most":[40],"them":[42],"not":[44],"applicable":[45],"indoors":[46],"due":[47],"the":[49,53,67,88,96,119,145],"high":[50],"variability":[51],"environment":[54],"(movement":[55],"furniture":[57],"people,":[60],"etc.).":[61],"In":[62],"paper,":[64],"we":[65],"describe":[66],"use":[68],"robust":[70],"regression":[71],"detect":[74],"reject":[76],"NLOS":[77,99,149],"measures":[78,146],"a":[80,129],"location":[81],"estimation":[82],"using":[83,126],"multilateration.":[84],"We":[85,121],"show":[86],"how":[87],"least-median-of-squares":[89],"technique":[90],"can":[91],"be":[92],"used":[93],"overcome":[95],"effects":[97],"errors,":[100],"even":[101,141],"environments":[103],"little":[105],"infrastructure,":[106],"validate":[108],"its":[109],"suitability":[110],"by":[111],"comparing":[112],"it":[113,127],"other":[115,151],"methods":[116],"described":[117],"bibliography.":[120],"obtained":[122],"remarkable":[123],"results":[124],"when":[125,142],"real":[130],"indoor":[131],"positioning":[132],"system":[133],"that":[134],"works":[135],"Bluetooth":[137],"ultrasound":[139],"(BLUPS),":[140],"nearly":[143],"half":[144],"suffered":[147],"or":[150],"coarse":[152],"errors.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":7}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}