{"id":"https://openalex.org/W4319601589","doi":"https://doi.org/10.3390/s23041855","title":"Indoor 2D Positioning Method for Mobile Robots Based on the Fusion of RSSI and Magnetometer Fingerprints","display_name":"Indoor 2D Positioning Method for Mobile Robots Based on the Fusion of RSSI and Magnetometer Fingerprints","publication_year":2023,"publication_date":"2023-02-07","ids":{"openalex":"https://openalex.org/W4319601589","doi":"https://doi.org/10.3390/s23041855","pmid":"https://pubmed.ncbi.nlm.nih.gov/36850452"},"language":"en","primary_location":{"id":"doi:10.3390/s23041855","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23041855","pdf_url":"https://www.mdpi.com/1424-8220/23/4/1855/pdf?version=1676101383","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/1424-8220/23/4/1855/pdf?version=1676101383","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057735997","display_name":"Peter \u0160ar\u010devi\u0107","orcid":"https://orcid.org/0000-0003-4050-8231"},"institutions":[{"id":"https://openalex.org/I227486990","display_name":"University of Szeged","ror":"https://ror.org/01pnej532","country_code":"HU","type":"education","lineage":["https://openalex.org/I227486990"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"Peter Sarcevic","raw_affiliation_strings":["Department of Mechatronics and Automation, Faculty of Engineering, University of Szeged, Moszkvai krt. 9, 6725 Szeged, Hungary"],"raw_orcid":"https://orcid.org/0000-0003-4050-8231","affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Automation, Faculty of Engineering, University of Szeged, Moszkvai krt. 9, 6725 Szeged, Hungary","institution_ids":["https://openalex.org/I227486990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027261940","display_name":"Dominik Cs\u00edk","orcid":"https://orcid.org/0000-0002-5399-3689"},"institutions":[{"id":"https://openalex.org/I103356709","display_name":"Obuda University","ror":"https://ror.org/00ax71d21","country_code":"HU","type":"education","lineage":["https://openalex.org/I103356709"]},{"id":"https://openalex.org/I227486990","display_name":"University of Szeged","ror":"https://ror.org/01pnej532","country_code":"HU","type":"education","lineage":["https://openalex.org/I227486990"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Dominik Csik","raw_affiliation_strings":["Department of Mechatronics and Automation, Faculty of Engineering, University of Szeged, Moszkvai krt. 9, 6725 Szeged, Hungary","Doctoral School of Applied Informatics and Applied Mathematics, \u00d3buda University, B\u00e9csi str. 96/b, 1034 Budapest, Hungary"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Automation, Faculty of Engineering, University of Szeged, Moszkvai krt. 9, 6725 Szeged, Hungary","institution_ids":["https://openalex.org/I227486990"]},{"raw_affiliation_string":"Doctoral School of Applied Informatics and Applied Mathematics, \u00d3buda University, B\u00e9csi str. 96/b, 1034 Budapest, Hungary","institution_ids":["https://openalex.org/I103356709"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016521764","display_name":"\u00c1kos Odry","orcid":"https://orcid.org/0000-0002-9554-9586"},"institutions":[{"id":"https://openalex.org/I227486990","display_name":"University of Szeged","ror":"https://ror.org/01pnej532","country_code":"HU","type":"education","lineage":["https://openalex.org/I227486990"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Akos Odry","raw_affiliation_strings":["Department of Mechatronics and Automation, Faculty of Engineering, University of Szeged, Moszkvai krt. 9, 6725 Szeged, Hungary"],"raw_orcid":"https://orcid.org/0000-0002-9554-9586","affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Automation, Faculty of Engineering, University of Szeged, Moszkvai krt. 9, 6725 Szeged, Hungary","institution_ids":["https://openalex.org/I227486990"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5057735997"],"corresponding_institution_ids":["https://openalex.org/I227486990"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":4.3618,"has_fulltext":true,"cited_by_count":35,"citation_normalized_percentile":{"value":0.95011909,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"23","issue":"4","first_page":"1855","last_page":"1855"},"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":0.9965999722480774,"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":0.9930999875068665,"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/magnetometer","display_name":"Magnetometer","score":0.654686450958252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5837815999984741},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.581911563873291},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.47634389996528625},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4632962644100189},{"id":"https://openalex.org/keywords/multilayer-perceptron","display_name":"Multilayer perceptron","score":0.45036622881889343},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44689446687698364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42940181493759155},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41013550758361816},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.3917660713195801},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3764491677284241},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.32783979177474976},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.25644373893737793},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13211843371391296}],"concepts":[{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.654686450958252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5837815999984741},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.581911563873291},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.47634389996528625},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4632962644100189},{"id":"https://openalex.org/C179717631","wikidata":"https://www.wikidata.org/wiki/Q2991667","display_name":"Multilayer perceptron","level":3,"score":0.45036622881889343},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44689446687698364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42940181493759155},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41013550758361816},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.3917660713195801},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3764491677284241},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.32783979177474976},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.25644373893737793},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13211843371391296},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.3390/s23041855","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23041855","pdf_url":"https://www.mdpi.com/1424-8220/23/4/1855/pdf?version=1676101383","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:36850452","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36850452","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:publicatio.bibl.u-szeged.hu:29702","is_oa":true,"landing_page_url":null,"pdf_url":"http://publicatio.bibl.u-szeged.hu/29702/1/sensors-23-01855-v2-1.pdf","source":{"id":"https://openalex.org/S4306400436","display_name":"SZTE Publicatio Repozit\u00f3rium (University of Szeged)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I227486990","host_organization_name":"University of Szeged","host_organization_lineage":["https://openalex.org/I227486990"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Foly\u00f3iratcikk"},{"id":"pmh:oai:pubmedcentral.nih.gov:9959696","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9959696","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC9959696/pdf/sensors-23-01855.pdf","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"},{"id":"pmh:oai:doaj.org/article:cbd75e2e5ff846b28d555513269fc660","is_oa":true,"landing_page_url":"https://doaj.org/article/cbd75e2e5ff846b28d555513269fc660","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 23, Iss 4, p 1855 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/4/1855/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23041855","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"}],"best_oa_location":{"id":"doi:10.3390/s23041855","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23041855","pdf_url":"https://www.mdpi.com/1424-8220/23/4/1855/pdf?version=1676101383","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4319601589.pdf"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W1947853012","https://openalex.org/W1978034800","https://openalex.org/W1991295181","https://openalex.org/W1999495736","https://openalex.org/W2012349007","https://openalex.org/W2018589614","https://openalex.org/W2032800032","https://openalex.org/W2068546584","https://openalex.org/W2077552673","https://openalex.org/W2115873741","https://openalex.org/W2187935563","https://openalex.org/W2244101296","https://openalex.org/W2278572312","https://openalex.org/W2413797300","https://openalex.org/W2462457991","https://openalex.org/W2567370096","https://openalex.org/W2582846117","https://openalex.org/W2621034596","https://openalex.org/W2747122612","https://openalex.org/W2769171246","https://openalex.org/W2775147633","https://openalex.org/W2777396910","https://openalex.org/W2803361295","https://openalex.org/W2803422741","https://openalex.org/W2884289020","https://openalex.org/W2895981770","https://openalex.org/W2900970538","https://openalex.org/W2902896588","https://openalex.org/W2953445048","https://openalex.org/W2966881746","https://openalex.org/W2981035489","https://openalex.org/W2987560136","https://openalex.org/W2999785729","https://openalex.org/W3015022426","https://openalex.org/W3085645976","https://openalex.org/W3112419126","https://openalex.org/W3115311310","https://openalex.org/W3115470128","https://openalex.org/W3133993667","https://openalex.org/W3153065290","https://openalex.org/W3193777646","https://openalex.org/W3199488820","https://openalex.org/W3201550712","https://openalex.org/W4200369389","https://openalex.org/W4220715374","https://openalex.org/W4220913747","https://openalex.org/W4221040136","https://openalex.org/W4282916316","https://openalex.org/W4292085628","https://openalex.org/W4303981251","https://openalex.org/W4306768033","https://openalex.org/W4321636979","https://openalex.org/W6678330737"],"related_works":["https://openalex.org/W2074940407","https://openalex.org/W2035596186","https://openalex.org/W2398658113","https://openalex.org/W2885295284","https://openalex.org/W309521798","https://openalex.org/W1502875874","https://openalex.org/W1905009105","https://openalex.org/W2138929496","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Received":[0],"signal":[1],"strength":[2,117],"indicator":[3],"(RSSI)-based":[4],"fingerprinting":[5],"is":[6,77,118,139,178],"a":[7,61],"widely":[8],"used":[9,179,186],"technique":[10],"for":[11,79],"indoor":[12,38,64,147],"localization,":[13],"but":[14],"these":[15],"methods":[16,40],"suffer":[17],"from":[18],"high":[19,218],"error":[20],"rates":[21],"due":[22],"to":[23,91,232],"various":[24],"reflections,":[25],"interferences,":[26],"and":[27,74,102,111,124,181],"noises.":[28],"The":[29,82,114,136,153,195,220],"use":[30],"of":[31,72,166],"disturbances":[32],"in":[33,37,45,132,144,159,191,211],"the":[34,70,93,99,103,108,121,129,133,164,167,174,182,189,192,207,214,225],"magnetic":[35,115,154,175,215,240],"field":[36,116,155,176,216],"localization":[39],"has":[41,217],"gained":[42],"increasing":[43],"attention":[44],"recent":[46],"years,":[47],"since":[48],"this":[49,59],"technology":[50],"provides":[51,126],"stable":[52],"measurements":[53,156,165,184],"with":[54,149,188],"low":[55],"random":[56],"fluctuations.":[57],"In":[58],"paper,":[60],"novel":[62],"fingerprinting-based":[63],"2D":[65,94],"positioning":[66],"method,":[67],"which":[68],"utilizes":[69],"fusion":[71],"RSSI":[73,104,238],"magnetometer":[75,100],"measurements,":[76],"proposed":[78,137],"mobile":[80,109,122],"robots.":[81],"method":[83,138],"applies":[84],"multilayer":[85],"perceptron":[86],"(MLP)":[87],"feedforward":[88],"neural":[89],"networks":[90],"determine":[92],"position,":[95],"based":[96],"on":[97,120],"both":[98],"data":[101,142,209],"values":[105],"measured":[106,119],"between":[107],"unit":[110],"anchor":[112],"nodes.":[113],"node,":[123],"it":[125],"information":[127],"about":[128],"disturbance":[130],"levels":[131],"given":[134],"position.":[135],"validated":[140],"using":[141],"collected":[143],"two":[145,208],"realistic":[146],"scenarios":[148,212],"multiple":[150],"static":[151],"objects.":[152],"are":[157,171,185],"examined":[158],"three":[160,168],"different":[161],"combinations,":[162],"i.e.,":[163],"sensor":[169,241],"axes":[170],"tested":[172],"together,":[173],"magnitude":[177,190],"alone,":[180],"Z-axis-based":[183],"together":[187],"X-Y":[193],"plane.":[194],"obtained":[196,234],"results":[197,222,233],"show":[198,223],"that":[199,224],"significant":[200],"improvement":[201,226],"can":[202,227],"be":[203,228],"achieved":[204,221],"by":[205,235],"fusing":[206],"types":[210],"where":[213],"variance.":[219],"above":[229],"35%":[230],"compared":[231],"utilizing":[236],"only":[237],"or":[239],"data.":[242]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":12}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
