{"id":"https://openalex.org/W2608226928","doi":"https://doi.org/10.3390/s17050951","title":"An Improved BLE Indoor Localization with Kalman-Based Fusion: An Experimental Study","display_name":"An Improved BLE Indoor Localization with Kalman-Based Fusion: An Experimental Study","publication_year":2017,"publication_date":"2017-04-26","ids":{"openalex":"https://openalex.org/W2608226928","doi":"https://doi.org/10.3390/s17050951","mag":"2608226928","pmid":"https://pubmed.ncbi.nlm.nih.gov/28445421"},"language":"en","primary_location":{"id":"doi:10.3390/s17050951","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17050951","pdf_url":"https://www.mdpi.com/1424-8220/17/5/951/pdf?version=1493210047","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/1424-8220/17/5/951/pdf?version=1493210047","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010844952","display_name":"Jenny Inge R\u00f6besaat","orcid":null},"institutions":[{"id":"https://openalex.org/I202367325","display_name":"Oldenburger Institut f\u00fcr Informatik","ror":"https://ror.org/003sav189","country_code":"DE","type":"facility","lineage":["https://openalex.org/I202367325"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jenny R\u00f6besaat","raw_affiliation_strings":["OFFIS\u2014Institut f\u00fcr Informatik, 26121 Oldenburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OFFIS\u2014Institut f\u00fcr Informatik, 26121 Oldenburg, Germany","institution_ids":["https://openalex.org/I202367325"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peilin Zhang","orcid":"https://orcid.org/0000-0001-5310-3490"},"institutions":[{"id":"https://openalex.org/I129877168","display_name":"Carl von Ossietzky Universit\u00e4t Oldenburg","ror":"https://ror.org/033n9gh91","country_code":"DE","type":"education","lineage":["https://openalex.org/I129877168"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Peilin Zhang","raw_affiliation_strings":["Department of Computer Science, Carl von Ossietzky University of Oldenburg, 26111 Oldenburg, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5310-3490","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Carl von Ossietzky University of Oldenburg, 26111 Oldenburg, Germany","institution_ids":["https://openalex.org/I129877168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031867487","display_name":"Mohamed Abdelaal","orcid":"https://orcid.org/0000-0001-8592-9510"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mohamed Abdelaal","raw_affiliation_strings":["Institute for Parallel and Distributed Systems, University of Stuttgart, 70569 Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Parallel and Distributed Systems, University of Stuttgart, 70569 Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004412680","display_name":"Oliver Theel","orcid":null},"institutions":[{"id":"https://openalex.org/I129877168","display_name":"Carl von Ossietzky Universit\u00e4t Oldenburg","ror":"https://ror.org/033n9gh91","country_code":"DE","type":"education","lineage":["https://openalex.org/I129877168"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Theel","raw_affiliation_strings":["Department of Computer Science, Carl von Ossietzky University of Oldenburg, 26111 Oldenburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Carl von Ossietzky University of Oldenburg, 26111 Oldenburg, Germany","institution_ids":["https://openalex.org/I129877168"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I129877168"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":1517,"currency":"EUR","value_usd":1636},"fwci":9.3529,"has_fulltext":true,"cited_by_count":145,"citation_normalized_percentile":{"value":0.9837632,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"17","issue":"5","first_page":"951","last_page":"951"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9902999997138977,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9850999712944031,"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/trilateration","display_name":"Trilateration","score":0.9295828342437744},{"id":"https://openalex.org/keywords/dead-reckoning","display_name":"Dead reckoning","score":0.8440753221511841},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.7311618328094482},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6435850858688354},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.6232949495315552},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5770368576049805},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5749266743659973},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5046437978744507},{"id":"https://openalex.org/keywords/bluetooth","display_name":"Bluetooth","score":0.46129071712493896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3747330605983734},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3611997365951538},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2547621726989746},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.2531275749206543},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.088158518075943},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07423520088195801},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.06935423612594604}],"concepts":[{"id":"https://openalex.org/C20832178","wikidata":"https://www.wikidata.org/wiki/Q1146298","display_name":"Trilateration","level":3,"score":0.9295828342437744},{"id":"https://openalex.org/C106165642","wikidata":"https://www.wikidata.org/wiki/Q152255","display_name":"Dead reckoning","level":3,"score":0.8440753221511841},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7311618328094482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6435850858688354},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.6232949495315552},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5770368576049805},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5749266743659973},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5046437978744507},{"id":"https://openalex.org/C546215728","wikidata":"https://www.wikidata.org/wiki/Q39531","display_name":"Bluetooth","level":3,"score":0.46129071712493896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3747330605983734},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3611997365951538},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2547621726989746},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2531275749206543},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.088158518075943},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07423520088195801},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.06935423612594604},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"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":6,"locations":[{"id":"doi:10.3390/s17050951","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17050951","pdf_url":"https://www.mdpi.com/1424-8220/17/5/951/pdf?version=1493210047","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:28445421","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28445421","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:oops.uni-oldenburg.de:3326","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400585","display_name":"Carl von Ossiezky University of Oldenburg","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:doaj.org/article:a7d19ab35248439a8a5a46d0b48e4eba","is_oa":true,"landing_page_url":"https://doaj.org/article/a7d19ab35248439a8a5a46d0b48e4eba","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 17, Iss 5, p 951 (2017)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:4322162","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5461075","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/17/5/951/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s17050951","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; Volume 17; Issue 5; Pages: 951","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s17050951","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s17050951","pdf_url":"https://www.mdpi.com/1424-8220/17/5/951/pdf?version=1493210047","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":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G1538849842","display_name":null,"funder_award_id":"DFG-GRK 1765","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G845080533","display_name":null,"funder_award_id":"GRK 1765","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2608226928.pdf","grobid_xml":"https://content.openalex.org/works/W2608226928.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W2006023663","https://openalex.org/W2044048366","https://openalex.org/W2085871825","https://openalex.org/W2100045669","https://openalex.org/W2106226434","https://openalex.org/W2108482152","https://openalex.org/W2110618891","https://openalex.org/W2114254062","https://openalex.org/W2115715835","https://openalex.org/W2138162205","https://openalex.org/W2145408159","https://openalex.org/W2154711971","https://openalex.org/W2156477559","https://openalex.org/W2161444534","https://openalex.org/W2170102584","https://openalex.org/W2184477643","https://openalex.org/W2204780533","https://openalex.org/W2506424319","https://openalex.org/W2563417884","https://openalex.org/W4254258092"],"related_works":["https://openalex.org/W1707434239","https://openalex.org/W3130929031","https://openalex.org/W2248192341","https://openalex.org/W2790716548","https://openalex.org/W2085095272","https://openalex.org/W2337616151","https://openalex.org/W2761350175","https://openalex.org/W2091347175","https://openalex.org/W2218990805","https://openalex.org/W3213338949"],"abstract_inverted_index":{"Indoor":[0],"positioning":[1,19,40,92,168],"has":[2],"grasped":[3],"great":[4],"attention":[5],"in":[6,30,109,152],"recent":[7],"years.":[8],"A":[9],"number":[10],"of":[11,83,118,131,134,154,170],"efforts":[12],"have":[13],"been":[14],"exerted":[15],"to":[16,73,79,114],"achieve":[17],"high":[18],"accuracy.":[20],"However,":[21],"there":[22],"exists":[23],"no":[24],"technology":[25],"that":[26,159],"proves":[27],"its":[28],"efficacy":[29],"various":[31],"situations.":[32],"In":[33],"this":[34],"paper,":[35],"we":[36,59,94],"propose":[37],"a":[38,54,110,167],"novel":[39],"method":[41,145],"based":[42],"on":[43],"fusing":[44],"trilateration":[45,148],"and":[46,78,124,149],"dead":[47,122,150],"reckoning.":[48],"We":[49],"employ":[50],"Kalman":[51],"filtering":[52],"as":[53,69],"position":[55,105],"fusion":[56,126,144],"algorithm.":[57],"Moreover,":[58],"adopt":[60],"an":[61],"Android":[62],"device":[63],"with":[64],"Bluetooth":[65],"Low":[66],"Energy":[67],"modules":[68],"the":[70,81,84,91,96,104,116,125,129,132,135,160],"communication":[71],"platform":[72],"avoid":[74],"excessive":[75],"energy":[76],"consumption":[77],"improve":[80,90],"stability":[82],"received":[85],"signal":[86],"strength.":[87],"To":[88],"further":[89],"accuracy,":[93],"take":[95],"environmental":[97,136],"context":[98,137],"information":[99],"into":[100],"account":[101],"while":[102],"generating":[103],"fixes.":[106],"Extensive":[107],"experiments":[108],"testbed":[111],"are":[112],"conducted":[113],"examine":[115],"performance":[117],"three":[119],"approaches:":[120],"trilateration,":[121],"reckoning":[123,151],"method.":[127],"Additionally,":[128],"influence":[130],"knowledge":[133],"is":[138],"also":[139],"examined.":[140],"Finally,":[141],"our":[142,164],"proposed":[143],"outperforms":[146],"both":[147],"terms":[153],"accuracy:":[155],"experimental":[156],"results":[157],"show":[158],"Kalman-based":[161],"fusion,":[162],"for":[163],"settings,":[165],"achieves":[166],"accuracy":[169],"less":[171],"than":[172],"one":[173],"meter.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":27},{"year":2020,"cited_by_count":19},{"year":2019,"cited_by_count":23},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
