{"id":"https://openalex.org/W4224270772","doi":"https://doi.org/10.3390/rs14081940","title":"BDS/GPS/UWB Adaptively Robust EKF Tightly Coupled Navigation Model Considering Pedestrian Motion Characteristics","display_name":"BDS/GPS/UWB Adaptively Robust EKF Tightly Coupled Navigation Model Considering Pedestrian Motion Characteristics","publication_year":2022,"publication_date":"2022-04-17","ids":{"openalex":"https://openalex.org/W4224270772","doi":"https://doi.org/10.3390/rs14081940"},"language":"en","primary_location":{"id":"doi:10.3390/rs14081940","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14081940","pdf_url":"https://www.mdpi.com/2072-4292/14/8/1940/pdf?version=1650193257","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/2072-4292/14/8/1940/pdf?version=1650193257","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100410103","display_name":"Jian Zhang","orcid":"https://orcid.org/0000-0003-4995-6495"},"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":"Jian Zhang","raw_affiliation_strings":["School of Geoscience and Surveying Engineering, China University of Mining and Technology-Beijing (CUMTB), Beijing 100083, China"],"affiliations":[{"raw_affiliation_string":"School of Geoscience and Surveying Engineering, China University of Mining and Technology-Beijing (CUMTB), Beijing 100083, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100773356","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0003-1748-6409"},"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":true,"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":"middle","author":{"id":"https://openalex.org/A5089575397","display_name":"Ximin Cui","orcid":"https://orcid.org/0000-0002-2736-9102"},"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":"Ximin Cui","raw_affiliation_strings":["School of Geoscience and Surveying Engineering, China University of Mining and Technology-Beijing (CUMTB), Beijing 100083, China"],"affiliations":[{"raw_affiliation_string":"School of Geoscience and Surveying Engineering, China University of Mining and Technology-Beijing (CUMTB), Beijing 100083, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051457436","display_name":"Debao Yuan","orcid":null},"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":"Debao Yuan","raw_affiliation_strings":["School of Geoscience and Surveying Engineering, China University of Mining and Technology-Beijing (CUMTB), Beijing 100083, China"],"affiliations":[{"raw_affiliation_string":"School of Geoscience and Surveying Engineering, China University of Mining and Technology-Beijing (CUMTB), Beijing 100083, China","institution_ids":["https://openalex.org/I25757504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100773356"],"corresponding_institution_ids":["https://openalex.org/I62853816"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":1.8473,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.86303094,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"14","issue":"8","first_page":"1940","last_page":"1940"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9998999834060669,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9998000264167786,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9965000152587891,"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/global-positioning-system","display_name":"Global Positioning System","score":0.7465684413909912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7192004919052124},{"id":"https://openalex.org/keywords/precise-point-positioning","display_name":"Precise Point Positioning","score":0.5022904872894287},{"id":"https://openalex.org/keywords/beidou-navigation-satellite-system","display_name":"BeiDou Navigation Satellite System","score":0.4335757791996002},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.43169042468070984},{"id":"https://openalex.org/keywords/positioning-system","display_name":"Positioning system","score":0.4105684161186218},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.21363839507102966},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.17478519678115845},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1507798731327057},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1322127878665924}],"concepts":[{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.7465684413909912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7192004919052124},{"id":"https://openalex.org/C202511199","wikidata":"https://www.wikidata.org/wiki/Q7239503","display_name":"Precise Point Positioning","level":4,"score":0.5022904872894287},{"id":"https://openalex.org/C2777783341","wikidata":"https://www.wikidata.org/wiki/Q857141","display_name":"BeiDou Navigation Satellite System","level":4,"score":0.4335757791996002},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.43169042468070984},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.4105684161186218},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.21363839507102966},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.17478519678115845},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1507798731327057},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1322127878665924},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs14081940","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14081940","pdf_url":"https://www.mdpi.com/2072-4292/14/8/1940/pdf?version=1650193257","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:8d96ff78bdfb4634a016b1c5378a7907","is_oa":true,"landing_page_url":"https://doaj.org/article/8d96ff78bdfb4634a016b1c5378a7907","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 14, Iss 8, p 1940 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/14/8/1940/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs14081940","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 14; Issue 8; Pages: 1940","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs14081940","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs14081940","pdf_url":"https://www.mdpi.com/2072-4292/14/8/1940/pdf?version=1650193257","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":[{"score":0.5600000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"},{"score":0.4099999964237213,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4224270772.pdf","grobid_xml":"https://content.openalex.org/works/W4224270772.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1856732131","https://openalex.org/W1973801924","https://openalex.org/W1979154650","https://openalex.org/W1988932065","https://openalex.org/W2027881735","https://openalex.org/W2075599103","https://openalex.org/W2079935542","https://openalex.org/W2114383454","https://openalex.org/W2129088323","https://openalex.org/W2162718622","https://openalex.org/W2258810912","https://openalex.org/W2373581900","https://openalex.org/W2472404671","https://openalex.org/W2478260408","https://openalex.org/W2558102675","https://openalex.org/W2596428288","https://openalex.org/W2768719181","https://openalex.org/W2776784043","https://openalex.org/W2794396553","https://openalex.org/W2903522278","https://openalex.org/W2922154808","https://openalex.org/W2948580462","https://openalex.org/W2969465399","https://openalex.org/W3011291128","https://openalex.org/W3026511642","https://openalex.org/W3085875475","https://openalex.org/W3112519502","https://openalex.org/W3114121466","https://openalex.org/W3128400661","https://openalex.org/W3174758125","https://openalex.org/W3184959411","https://openalex.org/W3201779169","https://openalex.org/W3217635941","https://openalex.org/W6763147559"],"related_works":["https://openalex.org/W2331487774","https://openalex.org/W4317795255","https://openalex.org/W4309016095","https://openalex.org/W2352452013","https://openalex.org/W4280620521","https://openalex.org/W3213349831","https://openalex.org/W4309461371","https://openalex.org/W2794015902","https://openalex.org/W2886721164","https://openalex.org/W4380875458"],"abstract_inverted_index":{"In":[0,42],"the":[1,17,45,54,58,63,70,97,109,115,131,148,152,156,159,168,174,178,182,192,196,206,216,221,228,238,241,253,262,272,285],"indoor":[2],"and":[3,29,49,57,94,118,124,236,264,282,288],"outdoor":[4],"transition":[5,98],"area,":[6],"due":[7],"to":[8,36,88,145,172,187,214,219,234],"its":[9],"poor":[10,46],"availability":[11,265],"in":[12,96,284],"a":[13,76,169],"complex":[14],"positioning":[15,21,40,47,73,90,119,184,203,224,242],"environment,":[16],"BDS/GPS":[18,55,122,270],"SPP":[19,56,123],"(single-point":[20],"by":[22,166,245,279],"combining":[23],"BeiDou":[24],"Navigation":[25],"Satellite":[26],"System":[27,32],"(BDS)":[28],"Global":[30],"Positioning":[31],"(GPS))":[33],"is":[34,86,106,137,143,164,277],"unable":[35],"provide":[37],"an":[38],"effective":[39],"service.":[41],"view":[43],"of":[44,53,66,72,103,121,151,177,181,194,198,223,240,266,274],"accuracy":[48,71,263,273],"low":[50],"sampling":[51],"rate":[52],"gross":[59,160,199],"error,":[60],"such":[61],"as":[62],"non-line-of-sight":[64],"error":[65,161,200],"UWB":[67,125],"(Ultra-Wide-Band),":[68],"making":[69],"results":[74,91,250],"poor,":[75],"BDS/GPS/UWB":[77,132,254],"tightly":[78,133,255],"coupled":[79,134,256],"navigation":[80,135,257],"model":[81,117,136,243,258,276],"considering":[82],"pedestrian":[83,209],"motion":[84,210],"characteristics":[85,211],"proposed":[87,244],"make":[89,173],"more":[92],"reliable":[93],"accurate":[95],"area.":[99],"The":[100,248],"core":[101],"content":[102],"this":[104,246,275],"paper":[105],"divided":[107],"into":[108],"following":[110],"three":[111],"parts:":[112],"(1)":[113],"Firstly,":[114],"dynamic":[116],"theories":[120],"are":[126,212,232],"introduced,":[127],"respectively.":[128,291],"(2)":[129],"Secondly,":[130],"proposed.":[138],"An":[139],"environment":[140],"discrimination":[141],"factor":[142,150,163,176],"introduced":[144,213],"adaptively":[146],"adjust":[147],"variance":[149,175],"system":[153,185],"state.":[154],"At":[155],"same":[157],"time,":[158],"detection":[162],"constructed":[165],"using":[167],"posteriori":[170],"residuals":[171],"measurement":[179],"information":[180],"combined":[183],"able":[186],"be":[188],"adjusted":[189],"intelligently":[190],"for":[191],"purpose":[193],"eliminating":[195],"interference":[197],"observations":[201],"on":[202],"results.":[204],"On":[205],"other":[207],"hand,":[208],"establish":[215],"constraint":[217],"equation":[218],"improve":[220,261],"consistency":[222],"accuracy.":[225],"(3)":[226],"Thirdly,":[227],"actual":[229],"measured":[230],"data":[231],"used":[233],"demonstrate":[235],"analyze":[237],"reliability":[239],"paper.":[247],"experimental":[249],"show":[251],"that":[252],"can":[259],"effectively":[260],"positioning.":[267],"Compared":[268],"with":[269],"SPP,":[271],"improved":[278],"57.8%,":[280],"76.0%":[281],"56.5%":[283],"E,":[286],"N":[287],"U":[289],"directions,":[290]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}