ArticleSensors (Basel, Switzerland)2021
Smartphone-Based Pedestrian Dead Reckoning for 3D Indoor Positioning.
Article in Sensors (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
7 citing papers in PubMed, 35 citations in OpenAlex.
- Motion-State-Aware Adaptive Step-Length Smartphone PDR for GPS-Denied Pedestrian Localization.Sensors (Basel, Switzerland) · 2026Article
- A Robust Adaptive Filtering Framework for Smartphone GNSS/PDR-Integrated Positioning.Micromachines · 2026Article
- Data reconciliation of indoor positioning data: Improve position data accuracy in warehouse environment.MethodsX · 2024Article
- 3D indoor area recognition for personnel security using integrated UWB and barometer approach.Scientific reports · 2024Article
- Research on Pedestrian Indoor Positioning Based on Two-Step Robust Adaptive Cubature Kalman Filter with Smartphone MEMS Sensors.Micromachines · 2023Article
- A Hybrid Indoor Altimetry Based on Barometer and UWB.Sensors (Basel, Switzerland) · 2023Article
- A Context-Aware Smartphone-Based 3D Indoor Positioning Using Pedestrian Dead Reckoning.Sensors (Basel, Switzerland) · 2022Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
6 authors at 2 institutions in 1 country.
Funding
Abstract
Indoor localization based on pedestrian dead reckoning (PDR) is drawing more and more attention of researchers in location-based services (LBS). The demand for indoor localization has grown rapidly using a smartphone. This paper proposes a 3D indoor positioning method based on the micro-electro-mechanical systems (MEMS) sensors of the smartphone. A quaternion-based robust adaptive cubature Kalman filter (RACKF) algorithm is proposed to estimate the heading of pedestrians based on magnetic, angular rate, and gravity (MARG) sensors. Then, the pedestrian behavior patterns are distinguished by detecting the changes of pitch angle, total accelerometer and barometer values of the smartphone in the duration of effective step frequency. According to the geometric information of the building stairs, the step length of pedestrians and the height difference of each step can be obtained when pedestrians go up and downstairs. Combined with the differential barometric altimetry method, the optimal height can be computed by the robust adaptive Kalman filter (RAKF) algorithm. Moreover, the heading and step length of each step are optimized by the Kalman filter to reduce positioning error. In addition, based on the indoor map vector information, this paper proposes a heading calculation strategy of the 16-wind rose map to improve the pedestrian positioning accuracy and reduce the accumulation error. Pedestrian plane coordinates can be solved based on the Pedestrian Dead-Reckoning (PDR). Finally, combining pedestrian plane coordinates and height, the three-dimensional positioning coordinates of indoor pedestrians are obtained. The proposed algorithm is verified by actual measurement examples. The experimental verification was carried out in a multi-story indoor environment. The results show that the Root Mean Squared Error (RMSE) of location errors is 1.04-1.65 m by using the proposed algorithm for three participants. Furthermore, the RMSE of height estimation errors is 0.17-0.27 m for three participants, which meets the demand of personal intelligent user terminal for location service. Moreover, the height parameter enables users to perceive the floor information.
Indexed as
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.