{"id":"https://openalex.org/W7160821889","doi":"https://doi.org/10.48550/arxiv.2605.07412","title":"Tracking Large-scale Shared Bikes with Inertial Motion Learning in GNSS Blocked Environments","display_name":"Tracking Large-scale Shared Bikes with Inertial Motion Learning in GNSS Blocked Environments","publication_year":2026,"publication_date":"2026-05-08","ids":{"openalex":"https://openalex.org/W7160821889","doi":"https://doi.org/10.48550/arxiv.2605.07412"},"language":"en","primary_location":{"id":"pmh:oai:eprints.lancs.ac.uk:238399","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401916","display_name":"Lancaster EPrints (Lancaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67415387","host_organization_name":"Lancaster University","host_organization_lineage":["https://openalex.org/I67415387"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.07412","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135856281","display_name":"Feng Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu, Feng","raw_affiliation_strings":["Beijing Jiaotong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026781950","display_name":"Kejia Li","orcid":"https://orcid.org/0009-0001-7321-8620"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li, Kejia","raw_affiliation_strings":["Beijing Jiaotong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135904572","display_name":"Zhiwei Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131180","display_name":"Design Intelligence (United States)","ror":"https://ror.org/02kg10n19","country_code":"US","type":"company","lineage":["https://openalex.org/I4210131180"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang, Zhiwei","raw_affiliation_strings":["DiDi Company"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DiDi Company","institution_ids":["https://openalex.org/I4210131180"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135846369","display_name":"Chunwei Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131180","display_name":"Design Intelligence (United States)","ror":"https://ror.org/02kg10n19","country_code":"US","type":"company","lineage":["https://openalex.org/I4210131180"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang, Chunwei","raw_affiliation_strings":["DiDi Company"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DiDi Company","institution_ids":["https://openalex.org/I4210131180"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135884334","display_name":"Qun Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131180","display_name":"Design Intelligence (United States)","ror":"https://ror.org/02kg10n19","country_code":"US","type":"company","lineage":["https://openalex.org/I4210131180"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Li, Qun","raw_affiliation_strings":["DiDi Company"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DiDi Company","institution_ids":["https://openalex.org/I4210131180"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135845914","display_name":"Guobin Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131180","display_name":"Design Intelligence (United States)","ror":"https://ror.org/02kg10n19","country_code":"US","type":"company","lineage":["https://openalex.org/I4210131180"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wu, Guobin","raw_affiliation_strings":["DiDi Company"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DiDi Company","institution_ids":["https://openalex.org/I4210131180"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069951778","display_name":"Qiang Ni","orcid":"https://orcid.org/0000-0002-4593-1656"},"institutions":[{"id":"https://openalex.org/I67415387","display_name":"Lancaster University","ror":"https://ror.org/04f2nsd36","country_code":"GB","type":"education","lineage":["https://openalex.org/I67415387"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ni, Qiang","raw_affiliation_strings":["Lancaster University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lancaster University","institution_ids":["https://openalex.org/I67415387"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016181167","display_name":"Ruipeng Gao","orcid":"https://orcid.org/0000-0002-2490-6654"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gao, Ruipeng","raw_affiliation_strings":["Beijing Jiaotong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Jiaotong University","institution_ids":["https://openalex.org/I21193070"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.45671567,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.2766000032424927,"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":0.2766000032424927,"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":0.1746000051498413,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.16539999842643738,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6492999792098999},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6352999806404114},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6298999786376953},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.5223000049591064},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.49129998683929443},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4862000048160553},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.484499990940094},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.4641000032424927},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4296000003814697}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6732000112533569},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6492999792098999},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6352999806404114},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6298999786376953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5329999923706055},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.5223000049591064},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5101000070571899},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.49129998683929443},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4862000048160553},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.484499990940094},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.4641000032424927},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4296000003814697},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4056999981403351},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3917999863624573},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.3634999990463257},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3458000123500824},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.3091999888420105},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.30880001187324524},{"id":"https://openalex.org/C2778027091","wikidata":"https://www.wikidata.org/wiki/Q25346003","display_name":"Satellite system","level":4,"score":0.28679999709129333},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2822999954223633},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.28139999508857727},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.2651999890804291},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25189998745918274},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25040000677108765}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:eprints.lancs.ac.uk:238399","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401916","display_name":"Lancaster EPrints (Lancaster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67415387","host_organization_name":"Lancaster University","host_organization_lineage":["https://openalex.org/I67415387"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"},{"id":"doi:10.48550/arxiv.2605.07412","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.07412","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.07412","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.07412","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7841043472290039,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Although":[0],"Global":[1],"Navigation":[2],"Satellite":[3],"Systems":[4],"(GNSS)":[5],"provide":[6,62],"a":[7,88,132],"general":[8],"solution":[9],"for":[10,70,156],"bike":[11],"tracking":[12,80],"outdoors,":[13],"there":[14],"still":[15,40],"exist":[16],"complex":[17],"riding":[18,162],"environments":[19],"where":[20],"only":[21,36],"inertial":[22,38,79],"navigation":[23],"systems":[24],"work,":[25],"such":[26,43,56,150],"as":[27,44,57],"urban":[28],"canyons.":[29],"Despite":[30],"decades":[31],"of":[32,131,167,179],"research,":[33],"localization":[34],"using":[35],"low-cost":[37],"sensors":[39,55],"faces":[41],"challenges":[42],"cumulative":[45],"drifts":[46],"and":[47,59,101,113,127,145,148],"poor":[48],"robustness":[49],"caused":[50],"by":[51,181],"filtering":[52],"methods.":[53],"Furthermore,":[54,118],"visual":[58],"LiDAR":[60],"could":[61],"reliable":[63],"measurements,":[64],"but":[65],"they":[66],"are":[67],"not":[68],"suitable":[69],"large-scale":[71],"deployment.":[72],"In":[73],"this":[74],"paper,":[75],"we":[76,92,134],"propose":[77],"an":[78],"framework":[81],"that":[82,173],"integrates":[83],"bicycle":[84],"mechanical":[85,122],"constraints":[86],"with":[87,160,185],"mixture-of-experts":[89],"model.":[90],"Specifically,":[91],"leverage":[93],"multiple":[94],"expert":[95],"modules":[96],"to":[97],"capture":[98],"shared":[99,165],"representations":[100],"weight":[102],"them":[103],"through":[104],"the":[105,121,125,128,136,140,168,177],"gating":[106],"mechanism,":[107],"thus":[108],"improving":[109],"multi-task":[110],"learning":[111],"performance":[112],"enabling":[114],"uncertainty-aware":[115],"trajectory":[116],"estimation.":[117],"based":[119],"on":[120],"transmission":[123],"between":[124,139],"pedal":[126],"rear":[129],"wheel":[130,154,186],"bike,":[133],"explore":[135],"intrinsic":[137],"relationship":[138],"rider's":[141],"periodic":[142],"pedalling":[143],"behaviors":[144],"acceleration":[146],"variations,":[147],"convert":[149],"patterns":[151],"into":[152],"bike's":[153],"speed":[155,187],"dynamic":[157],"calibration.":[158],"Experiments":[159],"real-world":[161],"data":[163],"from":[164],"bikes":[166],"DiDi":[169],"ride-hailing":[170],"platform":[171],"demonstrate":[172],"our":[174],"system":[175],"improves":[176],"accuracy":[178],"baselines":[180],"at":[182,192],"least":[183],"12%,":[184],"errors":[188],"below":[189],"0.5":[190],"m/s":[191],"95-percentile.":[193]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-12T00:00:00"}