{"id":"https://openalex.org/W4307546821","doi":"https://doi.org/10.3390/s22218160","title":"A Low-Cost Foot-Placed UWB and IMU Fusion-Based Indoor Pedestrian Tracking System for IoT Applications","display_name":"A Low-Cost Foot-Placed UWB and IMU Fusion-Based Indoor Pedestrian Tracking System for IoT Applications","publication_year":2022,"publication_date":"2022-10-25","ids":{"openalex":"https://openalex.org/W4307546821","doi":"https://doi.org/10.3390/s22218160","pmid":"https://pubmed.ncbi.nlm.nih.gov/36365858"},"language":"en","primary_location":{"id":"doi:10.3390/s22218160","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22218160","pdf_url":"https://www.mdpi.com/1424-8220/22/21/8160/pdf?version=1667807554","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/1424-8220/22/21/8160/pdf?version=1667807554","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072791681","display_name":"Khawar Naheem","orcid":"https://orcid.org/0000-0003-0820-3569"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Khawar Naheem","raw_affiliation_strings":["Center for Healthcare Robotics, School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju 61005, Korea"],"raw_orcid":"https://orcid.org/0000-0003-0820-3569","affiliations":[{"raw_affiliation_string":"Center for Healthcare Robotics, School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju 61005, Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084294297","display_name":"Mun Sang Kim","orcid":"https://orcid.org/0000-0002-6050-6594"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Mun Sang Kim","raw_affiliation_strings":["Center for Healthcare Robotics, School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju 61005, Korea"],"raw_orcid":"https://orcid.org/0000-0002-6050-6594","affiliations":[{"raw_affiliation_string":"Center for Healthcare Robotics, School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju 61005, Korea","institution_ids":["https://openalex.org/I39534123"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5084294297"],"corresponding_institution_ids":["https://openalex.org/I39534123"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.308,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.88549686,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"22","issue":"21","first_page":"8160","last_page":"8160"},"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":0.9879999756813049,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9824000000953674,"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":0.8963562250137329},{"id":"https://openalex.org/keywords/non-line-of-sight-propagation","display_name":"Non-line-of-sight propagation","score":0.8507940769195557},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6640994548797607},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5479316115379333},{"id":"https://openalex.org/keywords/ultra-wideband","display_name":"Ultra-wideband","score":0.5052374005317688},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5010018348693848},{"id":"https://openalex.org/keywords/indoor-positioning-system","display_name":"Indoor positioning system","score":0.46213048696517944},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4307999014854431},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4254646599292755},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34102463722229004},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.33741968870162964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3344266414642334},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.30992981791496277},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.14297395944595337}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8963562250137329},{"id":"https://openalex.org/C154910267","wikidata":"https://www.wikidata.org/wiki/Q1740982","display_name":"Non-line-of-sight propagation","level":3,"score":0.8507940769195557},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6640994548797607},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5479316115379333},{"id":"https://openalex.org/C21916231","wikidata":"https://www.wikidata.org/wiki/Q851424","display_name":"Ultra-wideband","level":2,"score":0.5052374005317688},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5010018348693848},{"id":"https://openalex.org/C2777486483","wikidata":"https://www.wikidata.org/wiki/Q6026477","display_name":"Indoor positioning system","level":3,"score":0.46213048696517944},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4307999014854431},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4254646599292755},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34102463722229004},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.33741968870162964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3344266414642334},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.30992981791496277},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.14297395944595337},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000069636","descriptor_name":"Pedestrians","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000069636","descriptor_name":"Pedestrians","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000069636","descriptor_name":"Pedestrians","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005528","descriptor_name":"Foot","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005528","descriptor_name":"Foot","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005528","descriptor_name":"Foot","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22218160","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22218160","pdf_url":"https://www.mdpi.com/1424-8220/22/21/8160/pdf?version=1667807554","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:36365858","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36365858","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:eccbe8c373b345ecbd2781ba56961aac","is_oa":true,"landing_page_url":"https://doaj.org/article/eccbe8c373b345ecbd2781ba56961aac","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 22, Iss 21, p 8160 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/21/8160/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22218160","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 22; Issue 21; Pages: 8160","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9657577","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9657577","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/s22218160","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22218160","pdf_url":"https://www.mdpi.com/1424-8220/22/21/8160/pdf?version=1667807554","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/11","score":0.5400000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4307546821.pdf","grobid_xml":"https://content.openalex.org/works/W4307546821.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1953241582","https://openalex.org/W1971173149","https://openalex.org/W1983761498","https://openalex.org/W1984754470","https://openalex.org/W2020835666","https://openalex.org/W2083754578","https://openalex.org/W2088803835","https://openalex.org/W2108482152","https://openalex.org/W2345032261","https://openalex.org/W2468078839","https://openalex.org/W2560119893","https://openalex.org/W2609031099","https://openalex.org/W2746750595","https://openalex.org/W2759147355","https://openalex.org/W2944017438","https://openalex.org/W2965087352","https://openalex.org/W2966035132","https://openalex.org/W2999003869","https://openalex.org/W3006191871","https://openalex.org/W3033586993","https://openalex.org/W3049918497","https://openalex.org/W3133492880","https://openalex.org/W3134435969","https://openalex.org/W3135993813","https://openalex.org/W3207112009","https://openalex.org/W4221057541","https://openalex.org/W4226322272","https://openalex.org/W4285008927","https://openalex.org/W4285186277","https://openalex.org/W4285230315"],"related_works":["https://openalex.org/W4312990322","https://openalex.org/W2134186565","https://openalex.org/W2995988144","https://openalex.org/W3118190411","https://openalex.org/W4214713934","https://openalex.org/W4281294611","https://openalex.org/W2139465372","https://openalex.org/W2353807497","https://openalex.org/W2123742333","https://openalex.org/W3215342520"],"abstract_inverted_index":{"Among":[0],"existing":[1],"wireless":[2],"and":[3,12,26,30,32,50,75,160,174,184,188],"wearable":[4],"indoor":[5,45,78,141],"pedestrian":[6,79,168],"tracking":[7,80],"solutions,":[8],"the":[9,19,37,44,51,94,104,110,123,128,131,166,180,192],"ultra-wideband":[10],"(UWB)":[11],"inertial":[13],"measurement":[14],"unit":[15],"(IMU)":[16],"sensors":[17],"are":[18],"popular":[20],"options":[21],"due":[22],"to":[23,163],"their":[24],"accurate":[25],"globally":[27],"referenced":[28],"positioning,":[29],"low-cost":[31,72],"compact":[33],"size,":[34],"respectively.":[35],"However,":[36],"UWB":[38,74,98,124,172],"position":[39,62],"accuracy":[40,149],"is":[41,86,155],"compromised":[42],"by":[43,157,185],"non-line":[46],"of":[47,96,130,150,165],"sight":[48],"(NLOS)":[49],"IMU":[52,76],"estimation":[53],"suffers":[54],"from":[55],"orientation":[56],"drift":[57,114],"as":[58,60],"well":[59],"requiring":[61],"initialization.":[63],"To":[64],"overcome":[65],"these":[66],"limitations,":[67],"this":[68,102],"paper":[69],"proposes":[70],"a":[71,139],"foot-placed":[73],"fusion-based":[77],"system.":[81],"Our":[82],"data":[83,152],"fusion":[84,153,176],"model":[85,154],"an":[87],"improved":[88],"loosely":[89],"coupled":[90],"Kalman":[91],"filter":[92],"with":[93,134],"inclusion":[95],"valid":[97],"observation":[99],"detection.":[100],"In":[101],"manner,":[103],"proposed":[105,132],"system":[106,133],"not":[107],"only":[108],"adjusts":[109],"consumer-grade":[111],"IMU's":[112],"accumulated":[113],"but":[115],"also":[116],"filters":[117],"out":[118],"any":[119],"NLOS":[120,182],"instances":[121],"in":[122,138,179,191],"observation.":[125],"We":[126],"validated":[127],"performance":[129],"two":[135],"experimental":[136],"scenarios":[137],"complex":[140],"environment.":[142],"The":[143],"root":[144],"mean":[145],"square":[146],"(RMS)":[147],"positioning":[148],"our":[151],"enhanced":[156],"60%,":[158],"53%,":[159],"27%":[161],"compared":[162],"that":[164],"IMU-based":[167],"dead":[169],"reckoning,":[170],"raw":[171],"position,":[173],"conventional":[175],"model,":[177],"respectively,":[178,190],"single-lap":[181],"scenario,":[183],"70%,":[186],"34%,":[187],"12%,":[189],"multi-lap":[193],"LOS+NLOS":[194],"scenario.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":9}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}