{"id":"https://openalex.org/W2983558656","doi":"https://doi.org/10.3390/rs11222628","title":"An Adaptive UWB/MEMS-IMU Complementary Kalman Filter for Indoor Location in NLOS Environment","display_name":"An Adaptive UWB/MEMS-IMU Complementary Kalman Filter for Indoor Location in NLOS Environment","publication_year":2019,"publication_date":"2019-11-10","ids":{"openalex":"https://openalex.org/W2983558656","doi":"https://doi.org/10.3390/rs11222628","mag":"2983558656"},"language":"en","primary_location":{"id":"doi:10.3390/rs11222628","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs11222628","pdf_url":"https://www.mdpi.com/2072-4292/11/22/2628/pdf?version=1574238471","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/11/22/2628/pdf?version=1574238471","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100394555","display_name":"Fei Liu","orcid":"https://orcid.org/0000-0001-6249-8674"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Liu","raw_affiliation_strings":["School of Environment Science and Spatial Informatics, China University of Mining and Technology (CUMT), Xuzhou 221116, China"],"affiliations":[{"raw_affiliation_string":"School of Environment Science and Spatial Informatics, China University of Mining and Technology (CUMT), Xuzhou 221116, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100353858","display_name":"Xin Li","orcid":"https://orcid.org/0000-0002-3813-3357"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xin Li","raw_affiliation_strings":["School of Computer Science and Technology, China University of Mining and Technology (CUMT), Xuzhou 221116, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, China University of Mining and Technology (CUMT), Xuzhou 221116, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370524","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0002-9926-5468"},"institutions":[{"id":"https://openalex.org/I62853816","display_name":"Beijing University of Civil Engineering and Architecture","ror":"https://ror.org/02yj0p855","country_code":"CN","type":"education","lineage":["https://openalex.org/I62853816"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["School of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, China"],"affiliations":[{"raw_affiliation_string":"School of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture (BUCEA), Beijing 102616, China","institution_ids":["https://openalex.org/I62853816"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101555557","display_name":"Jixian Zhang","orcid":"https://orcid.org/0000-0002-9409-3919"},"institutions":[{"id":"https://openalex.org/I4210120126","display_name":"National Quality Inspection and Testing Center for Surveying and Mapping Products","ror":"https://ror.org/02tvjer66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210120126"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jixian Zhang","raw_affiliation_strings":["National Quality Inspection and Testing Center for Surveying and Mapping Products, Beijing 100830, China"],"affiliations":[{"raw_affiliation_string":"National Quality Inspection and Testing Center for Surveying and Mapping Products, Beijing 100830, China","institution_ids":["https://openalex.org/I4210120126"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100353858"],"corresponding_institution_ids":["https://openalex.org/I25757504"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":2.5038,"has_fulltext":true,"cited_by_count":51,"citation_normalized_percentile":{"value":0.89893532,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"11","issue":"22","first_page":"2628","last_page":"2628"},"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/T10655","display_name":"GNSS positioning and interference","score":0.9976999759674072,"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"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7489299774169922},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.7175220847129822},{"id":"https://openalex.org/keywords/non-line-of-sight-propagation","display_name":"Non-line-of-sight propagation","score":0.6628071069717407},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5894467830657959},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5754989981651306},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5717488527297974},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5313834547996521},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.4276464879512787},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.33773383498191833},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2593206763267517},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.25682777166366577},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23772868514060974},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.18233391642570496},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18059474229812622},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09269514679908752}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7489299774169922},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7175220847129822},{"id":"https://openalex.org/C154910267","wikidata":"https://www.wikidata.org/wiki/Q1740982","display_name":"Non-line-of-sight propagation","level":3,"score":0.6628071069717407},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5894467830657959},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5754989981651306},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5717488527297974},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5313834547996521},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.4276464879512787},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.33773383498191833},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2593206763267517},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25682777166366577},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23772868514060974},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.18233391642570496},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18059474229812622},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09269514679908752},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs11222628","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs11222628","pdf_url":"https://www.mdpi.com/2072-4292/11/22/2628/pdf?version=1574238471","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:197423fe55d7440aae84af716d776add","is_oa":true,"landing_page_url":"https://doaj.org/article/197423fe55d7440aae84af716d776add","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":"Remote Sensing, Vol 11, Iss 22, p 2628 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/11/22/2628/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs11222628","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Remote Sensing; Volume 11; Issue 22; Pages: 2628","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs11222628","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs11222628","pdf_url":"https://www.mdpi.com/2072-4292/11/22/2628/pdf?version=1574238471","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2217125692","display_name":null,"funder_award_id":"2016M601909","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G3940119412","display_name":null,"funder_award_id":"41874029","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7790564676","display_name":null,"funder_award_id":"41674030","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"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2983558656.pdf","grobid_xml":"https://content.openalex.org/works/W2983558656.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1498622074","https://openalex.org/W1564768010","https://openalex.org/W1601275779","https://openalex.org/W1755286780","https://openalex.org/W2060653311","https://openalex.org/W2067542554","https://openalex.org/W2081474570","https://openalex.org/W2085101420","https://openalex.org/W2088803835","https://openalex.org/W2115551050","https://openalex.org/W2115969888","https://openalex.org/W2124216931","https://openalex.org/W2131721559","https://openalex.org/W2131756873","https://openalex.org/W2150371009","https://openalex.org/W2170237442","https://openalex.org/W2273410772","https://openalex.org/W2407678032","https://openalex.org/W2472404671","https://openalex.org/W2482214167","https://openalex.org/W2516544765","https://openalex.org/W2533001766","https://openalex.org/W2585219010","https://openalex.org/W2603607770","https://openalex.org/W2605954379","https://openalex.org/W2753406302","https://openalex.org/W2790047175","https://openalex.org/W2805551236","https://openalex.org/W2892270307","https://openalex.org/W2948145776","https://openalex.org/W6636161192","https://openalex.org/W6679438099"],"related_works":["https://openalex.org/W2356006086","https://openalex.org/W2545168295","https://openalex.org/W1973973903","https://openalex.org/W2365897603","https://openalex.org/W4234814094","https://openalex.org/W4287084017","https://openalex.org/W3208523813","https://openalex.org/W3195533899","https://openalex.org/W2156308897","https://openalex.org/W3179745820"],"abstract_inverted_index":{"High":[0],"precision":[1],"positioning":[2,174],"of":[3,12,19,27,49,63,71,82,93,99,106,117,140],"UWB":[4,38,100,107,118,141,180],"(ultra-wideband)":[5],"in":[6,16],"NLOS":[7],"(non-line-of-sight)":[8],"environment":[9],"is":[10,57,75,85,110,121],"one":[11],"the":[13,17,47,61,67,80,90,97,103,115,126,138,149,153,164,173],"hot":[14],"issues":[15],"direction":[18,56,133],"indoor":[20],"positioning.":[21],"In":[22],"this":[23],"paper,":[24],"a":[25,29],"method":[26],"using":[28],"complementary":[30],"Kalman":[31],"filter":[32,37],"(CKF)":[33],"to":[34,88,124],"fuse":[35],"and":[36,39,45,55,65,73,78,113,132,142,159],"IMU":[40],"(inertial":[41],"measurement":[42,108],"unit)":[43],"data":[44,84,119],"track":[46],"errors":[48,134],"variables":[50],"such":[51],"as":[52,170,172],"position,":[53,130],"speed,":[54],"presented.":[58],"Based":[59,95],"on":[60,96],"uncertainty":[62,98],"magnetometer":[64,72,83],"acceleration,":[66],"noise":[68,109,158],"covariance":[69,104],"matrix":[70,105],"accelerometer":[74],"calculated":[76,111],"dynamically,":[77,112],"then":[79,114],"weight":[81,116],"set":[86,122],"adaptively":[87,123],"correct":[89,125],"directional":[91],"error":[92],"gyroscope.":[94],"distance":[101],"observations,":[102],"observations":[120],"position":[127],"error.":[128],"The":[129,144],"velocity":[131],"are":[135],"corrected":[136],"by":[137],"fusion":[139],"IMU.":[143],"experimental":[145],"results":[146],"show":[147],"that":[148,163],"algorithm":[150],"can":[151,167,176],"reduce":[152],"gyroscope":[154],"deviation":[155],"with":[156,179],"magnetic":[157],"motion":[160],"noise,":[161],"so":[162],"orientation":[165],"estimates":[166],"be":[168,177],"improved,":[169],"well":[171],"accuracy":[175],"increased":[178],"ranging":[181],"noise.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2019-11-22T00:00:00"}