{"id":"https://openalex.org/W1964866297","doi":"https://doi.org/10.3390/s150407708","title":"A Robust Method to Detect Zero Velocity for Improved 3D Personal Navigation Using Inertial Sensors","display_name":"A Robust Method to Detect Zero Velocity for Improved 3D Personal Navigation Using Inertial Sensors","publication_year":2015,"publication_date":"2015-03-30","ids":{"openalex":"https://openalex.org/W1964866297","doi":"https://doi.org/10.3390/s150407708","mag":"1964866297","pmid":"https://pubmed.ncbi.nlm.nih.gov/25831086"},"language":"en","primary_location":{"id":"doi:10.3390/s150407708","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s150407708","pdf_url":"https://www.mdpi.com/1424-8220/15/4/7708/pdf?version=1427704451","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/15/4/7708/pdf?version=1427704451","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081055831","display_name":"Zhengyi Xu","orcid":"https://orcid.org/0000-0001-8309-9453"},"institutions":[{"id":"https://openalex.org/I4210111959","display_name":"Shanghai Advanced Research Institute","ror":"https://ror.org/02br7py06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210111959"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengyi Xu","raw_affiliation_strings":["Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China","University of Chinese Academy of Sciences, Shanghai 201210, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China","institution_ids":["https://openalex.org/I4210111959","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Shanghai 201210, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056113267","display_name":"Jianming Wei","orcid":"https://orcid.org/0000-0002-2444-1260"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210111959","display_name":"Shanghai Advanced Research Institute","ror":"https://ror.org/02br7py06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210111959"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianming Wei","raw_affiliation_strings":["Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China","institution_ids":["https://openalex.org/I4210111959","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101550053","display_name":"Bo Zhang","orcid":"https://orcid.org/0000-0002-7226-1088"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210111959","display_name":"Shanghai Advanced Research Institute","ror":"https://ror.org/02br7py06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210111959"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Zhang","raw_affiliation_strings":["Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China","institution_ids":["https://openalex.org/I4210111959","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101151472","display_name":"Weijun Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210111959","display_name":"Shanghai Advanced Research Institute","ror":"https://ror.org/02br7py06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210111959"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weijun Yang","raw_affiliation_strings":["Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China","institution_ids":["https://openalex.org/I4210111959","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5056113267"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210111959"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.4087,"has_fulltext":true,"cited_by_count":24,"citation_normalized_percentile":{"value":0.89629426,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"15","issue":"4","first_page":"7708","last_page":"7727"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"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":0.9994999766349792,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6683521866798401},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.6138330698013306},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6087873578071594},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5988309979438782},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5872384309768677},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5492340922355652},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5420833826065063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5123602151870728},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5025184154510498},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46088433265686035},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.358257919549942},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32841312885284424},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10031095147132874}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6683521866798401},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.6138330698013306},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6087873578071594},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5988309979438782},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5872384309768677},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5492340922355652},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5420833826065063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5123602151870728},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5025184154510498},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46088433265686035},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.358257919549942},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32841312885284424},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10031095147132874},{"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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s150407708","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s150407708","pdf_url":"https://www.mdpi.com/1424-8220/15/4/7708/pdf?version=1427704451","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:25831086","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/25831086","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:7ecc8055d00a479ab91f78341643f561","is_oa":true,"landing_page_url":"https://doaj.org/article/7ecc8055d00a479ab91f78341643f561","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":"Sensors, Vol 15, Iss 4, Pp 7708-7727 (2015)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/15/4/7708/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s150407708","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":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:4431239","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/4431239","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s150407708","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s150407708","pdf_url":"https://www.mdpi.com/1424-8220/15/4/7708/pdf?version=1427704451","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.41999998688697815}],"awards":[{"id":"https://openalex.org/G5161114368","display_name":null,"funder_award_id":"XDA06010800","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"}],"funders":[{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1964866297.pdf","grobid_xml":"https://content.openalex.org/works/W1964866297.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1726547475","https://openalex.org/W1850328252","https://openalex.org/W1993793087","https://openalex.org/W2004814601","https://openalex.org/W2005700828","https://openalex.org/W2019976143","https://openalex.org/W2031335328","https://openalex.org/W2032478934","https://openalex.org/W2040164623","https://openalex.org/W2048890473","https://openalex.org/W2056201856","https://openalex.org/W2063787537","https://openalex.org/W2068505620","https://openalex.org/W2088803835","https://openalex.org/W2117322335","https://openalex.org/W2130948627","https://openalex.org/W2145353583","https://openalex.org/W2151055632","https://openalex.org/W2168745394","https://openalex.org/W2170929959","https://openalex.org/W6638791442"],"related_works":["https://openalex.org/W4250716077","https://openalex.org/W4247347568","https://openalex.org/W3082879976","https://openalex.org/W4313886815","https://openalex.org/W2038183074","https://openalex.org/W2024124515","https://openalex.org/W2773722138","https://openalex.org/W2382856674","https://openalex.org/W4300961947","https://openalex.org/W2122146193"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,16,31],"robust":[4],"zero":[5],"velocity":[6],"(ZV)":[7],"detector":[8],"algorithm":[9,21,110],"to":[10,46,63],"accurately":[11],"calculate":[12],"stationary":[13],"periods":[14],"in":[15,117],"gait":[17,25],"cycle.":[18],"The":[19,73],"proposed":[20,86],"adopts":[22],"an":[23,56],"effective":[24],"cycle":[26],"segmentation":[27],"method":[28,87,93],"and":[29,43,68],"introduces":[30],"Bayesian":[32],"network":[33],"(BN)":[34],"model":[35],"based":[36,99],"on":[37,100],"the":[38,48,52,65,70,77,85,101,104,118],"measurements":[39],"of":[40,80],"inertial":[41],"sensors":[42],"kinesiology":[44],"knowledge":[45],"infer":[47],"ZV":[49,54,81],"period.":[50],"During":[51],"detected":[53,102],"period,":[55],"Extended":[57],"Kalman":[58],"Filter":[59],"(EKF)":[60],"is":[61],"used":[62],"estimate":[64],"error":[66],"states":[67],"calibrate":[69],"position":[71],"error.":[72],"experiments":[74],"reveal":[75],"that":[76],"removal":[78],"rate":[79],"false":[82],"detections":[83],"by":[84,112],"increases":[88],"80%":[89],"compared":[90],"with":[91],"traditional":[92],"at":[94],"high":[95],"walking":[96],"speed.":[97],"Furthermore,":[98],"ZV,":[103],"Personal":[105],"Inertial":[106],"Navigation":[107],"System":[108],"(PINS)":[109],"aided":[111],"EKF":[113],"performs":[114],"better,":[115],"especially":[116],"altitude":[119],"aspect.":[120]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}