{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T02:00:03Z","timestamp":1771466403416,"version":"3.50.1"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"S4","license":[{"start":{"date-parts":[[2018,1,29]],"date-time":"2018-01-29T00:00:00Z","timestamp":1517184000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"crossref","award":["2016YFB0502001"],"award-info":[{"award-number":["2016YFB0502001"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Cluster Comput"],"published-print":{"date-parts":[[2019,7]]},"DOI":"10.1007\/s10586-018-1803-1","type":"journal-article","created":{"date-parts":[[2018,1,29]],"date-time":"2018-01-29T10:38:40Z","timestamp":1517222320000},"page":"8351-8361","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Relative entropy-based Kalman filter for seamless indoor\/outdoor multi-source fusion positioning with INS\/TC-OFDM\/GNSS"],"prefix":"10.1007","volume":"22","author":[{"given":"Enwen","family":"Hu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhongliang","family":"Deng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qingqing","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lu","family":"Yin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wen","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2018,1,29]]},"reference":[{"issue":"3","key":"1803_CR1","doi-asserted-by":"publisher","first-page":"132","DOI":"10.1109\/MCOM.2017.1600595CM","volume":"55","author":"J Cho","year":"2017","unstructured":"Cho, J., Yu, J., Oh, S., et al.: Wrong siren! A location spoofing attack on indoor positioning systems: the Starbucks case study. IEEE Commun. Mag. 55(3), 132\u2013137 (2017)","journal-title":"IEEE Commun. Mag."},{"key":"1803_CR2","doi-asserted-by":"publisher","unstructured":"Hwang, I., Jang, Y.J.: Process mining to discover shoppers\u2019 pathways at a fashion retail store using a WiFi-base indoor positioning system. IEEE Trans. Autom. Sci. Eng. (2017). \nhttps:\/\/doi.org\/10.1109\/TASE.2017.2692961","DOI":"10.1109\/TASE.2017.2692961"},{"issue":"2","key":"1803_CR3","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1109\/MITS.2017.2666579","volume":"9","author":"D Fernandez-Llorca","year":"2017","unstructured":"Fernandez-Llorca, D., Minguez, R.Q., Alonso, I.P., et al.: Assistive intelligent transportation systems: the need for user localization and anonymous disability identification. IEEE Intell. Transp. Syst. Mag. 9(2), 25\u201340 (2017)","journal-title":"IEEE Intell. Transp. Syst. Mag."},{"key":"1803_CR4","first-page":"3","volume":"1","author":"Y Yin","year":"2016","unstructured":"Yin, Y., Zeng, Y., Chen, X., et al.: The internet of things in healthcare: an overview. J. Ind. Inf. Integr. 1, 3\u201313 (2016)","journal-title":"J. Ind. Inf. Integr."},{"issue":"10","key":"1803_CR5","doi-asserted-by":"publisher","first-page":"R53","DOI":"10.1088\/0967-3334\/36\/10\/R53","volume":"36","author":"F Santoso","year":"2015","unstructured":"Santoso, F., Redmond, S.J.: Indoor location-aware medical systems for smart homecare and telehealth monitoring: state-of-the-art. Physiol. Meas. 36(10), R53 (2015)","journal-title":"Physiol. Meas."},{"key":"1803_CR6","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1016\/j.apgeog.2016.11.005","volume":"78","author":"D Oosterlinck","year":"2017","unstructured":"Oosterlinck, D., Benoit, D.F., Baecke, P., et al.: Bluetooth tracking of humans in an indoor environment: an application to shopping mall visits. Appl. Geogr. 78, 55\u201365 (2017)","journal-title":"Appl. Geogr."},{"issue":"PA","key":"1803_CR7","doi-asserted-by":"publisher","first-page":"121","DOI":"10.1016\/j.neucom.2015.05.120","volume":"174","author":"Z Yang","year":"2016","unstructured":"Yang, Z., Zhang, P., Chen, L.: RFID-enabled indoor positioning method for a real-time manufacturing execution system using OS-ELM. Neurocomputing 174(PA), 121\u2013133 (2016)","journal-title":"Neurocomputing"},{"key":"1803_CR8","doi-asserted-by":"publisher","unstructured":"Noh, Y., Yamaguchi, H., Lee, U.: Infrastructure-free collaborative indoor positioning scheme for time-critical team operations. IEEE Trans. Syst. Man Cybern. Syst. (2016). \nhttps:\/\/doi.org\/10.1109\/PerCom.2013.6526729","DOI":"10.1109\/PerCom.2013.6526729"},{"issue":"7","key":"1803_CR9","first-page":"214","volume":"6","author":"X Zhang","year":"2017","unstructured":"Zhang, X., Chen, Y., Yu, L., et al.: Three-dimensional modeling and indoor positioning for urban emergency response. Int. J. Geoinf. 6(7), 214 (2017)","journal-title":"Int. J. Geoinf."},{"key":"1803_CR10","doi-asserted-by":"publisher","first-page":"5764","DOI":"10.1109\/ACCESS.2016.2602304","volume":"4","author":"C Luo","year":"2017","unstructured":"Luo, C., Fan, X., Ni, J., et al.: Positioning accuracy evaluation for the collaborative automation of mining fleet with the support of memory cutting technology. IEEE Access 4, 5764\u20135775 (2017)","journal-title":"IEEE Access"},{"key":"1803_CR11","unstructured":"Friedman, J., Davitian, A., Torres, D., et al.: Angle-of-arrival-assisted relative interferometric localization using software defined radios. In: Proceedings of IEEE MILCOM, Boston, MA, USA, 2009, pp. 1\u20138"},{"issue":"2","key":"1803_CR12","doi-asserted-by":"publisher","first-page":"244","DOI":"10.1109\/JIOT.2015.2506258","volume":"3","author":"S Alletto","year":"2016","unstructured":"Alletto, S., Cucchiara, R., Fiore, G.D., et al.: An indoor location-aware system for an IoT-based smart museum. IEEE Internet Things J. 3(2), 244\u2013253 (2016)","journal-title":"IEEE Internet Things J."},{"key":"1803_CR13","doi-asserted-by":"publisher","unstructured":"Sun, C., Wu, Z., Bai, B.: A novel compact wideband patch antenna for GNSS application. IEEE Trans. Antennas Propag. (2017). \nhttps:\/\/doi.org\/10.1109\/TAP.2017.2761987","DOI":"10.1109\/TAP.2017.2761987"},{"issue":"5","key":"1803_CR14","first-page":"220","volume":"14","author":"XM Yuan","year":"2017","unstructured":"Yuan, X.M., Xin-Cheng, M.A., Sun, Y.Q.: The application of GNSS systems in bridge construction control. Geomat. Spat. Inf. Technol. 14(5), 220\u2013222 (2017)","journal-title":"Geomat. Spat. Inf. Technol."},{"key":"1803_CR15","doi-asserted-by":"publisher","unstructured":"Zhang, C., Li, X., Gao, S., et al.: Performance analysis of global navigation satellite system signal acquisition aided by different grade inertial navigation system under highly dynamic conditions. Sensors (2017). \nhttps:\/\/doi.org\/10.3390\/s17050980","DOI":"10.3390\/s17050980"},{"key":"1803_CR16","doi-asserted-by":"publisher","unstructured":"Paul, A., Paul, K.S., Das, A.: Impact of multiconstellation satellite signal reception on performance of satellite-based navigation under adverse ionospheric conditions. Radio Sci. (2017). \nhttps:\/\/doi.org\/10.1002\/2016RS006076","DOI":"10.1002\/2016RS006076"},{"key":"1803_CR17","unstructured":"Li, B., Khing, Y., Dempster, A.G.: Using two GPS satellites to improve WiFi positioning accuracy in urban canyons. (2013). \nhttps:\/\/www.researchgate.net\/publication\/267936200"},{"issue":"2","key":"1803_CR18","doi-asserted-by":"publisher","first-page":"485","DOI":"10.1016\/j.automatica.2008.08.009","volume":"45","author":"Y Cheng","year":"2009","unstructured":"Cheng, Y., Ye, H., Wang, Y., et al.: Unbiased minimum-variance state estimation for linear systems with unknown input. Automatica 45(2), 485\u2013491 (2009)","journal-title":"Automatica"},{"issue":"6","key":"1803_CR19","doi-asserted-by":"publisher","first-page":"502","DOI":"10.1049\/iet-smt.2011.0169","volume":"6","author":"L Chang","year":"2012","unstructured":"Chang, L., Hu, B., Chang, G., et al.: Huber-based novel robust unscented Kalman filter. IET Sci. Meas. Technol. 6(6), 502\u2013509 (2012)","journal-title":"IET Sci. Meas. Technol."},{"issue":"16","key":"1803_CR20","doi-asserted-by":"publisher","first-page":"2072","DOI":"10.1088\/0957-0233\/16\/10\/024","volume":"16","author":"H Bian","year":"2005","unstructured":"Bian, H., Jin, Z., Tian, W.: Study on GPS attitude determination system aided INS using adaptive Kalman filter. Meas. Sci. Technol. 16(16), 2072 (2005)","journal-title":"Meas. Sci. Technol."},{"issue":"2","key":"1803_CR21","doi-asserted-by":"publisher","first-page":"215","DOI":"10.1007\/s10291-014-0381-9","volume":"19","author":"SG Lin","year":"2015","unstructured":"Lin, S.G.: Assisted adaptive extended Kalman filter for low-cost single-frequency GPS\/SBAS kinematic positioning. GPS Solut. 19(2), 215\u2013223 (2015)","journal-title":"GPS Solut."},{"issue":"9","key":"1803_CR22","doi-asserted-by":"publisher","first-page":"1924","DOI":"10.1016\/j.asr.2014.07.008","volume":"54","author":"R Tu","year":"2014","unstructured":"Tu, R., Wang, R., Walter, T.R., et al.: Adaptive recognition and correction of baseline shifts from collocated GPS and accelerometer using two phases Kalman filter. Adv. Space Res. 54(9), 1924\u20131932 (2014)","journal-title":"Adv. Space Res."},{"issue":"5","key":"1803_CR23","doi-asserted-by":"publisher","first-page":"778","DOI":"10.1109\/JSEN.2007.894148","volume":"7","author":"DJ Jwo","year":"2007","unstructured":"Jwo, D.J., Wang, S.H.: Adaptive fuzzy strong tracking extended Kalman filtering for GPS navigation. IEEE Sens. J. 7(5), 778\u2013789 (2007)","journal-title":"IEEE Sens. J."},{"key":"1803_CR24","unstructured":"Shi, Y., Sang, C., Gao, S.: Adaptive filtering for INS\/SAR integrated navigation system. In: Asian\u2013Pacific Conference on Synthetic Aperture Radar, 2009. APSAR 2009, pp. 884\u2013887. IEEE (2010)"},{"issue":"9","key":"1803_CR25","doi-asserted-by":"publisher","first-page":"663","DOI":"10.1049\/el.2014.0238","volume":"50","author":"W Zhu","year":"2014","unstructured":"Zhu, W., Tang, J., Wan, S., et al.: Outlier-resistant adaptive filtering based on sparse Bayesian learning. Electron. Lett. 50(9), 663\u2013665 (2014)","journal-title":"Electron. Lett."},{"issue":"7","key":"1803_CR26","doi-asserted-by":"publisher","first-page":"880","DOI":"10.1109\/LSP.2014.2319308","volume":"21","author":"B Chen","year":"2014","unstructured":"Chen, B., Xing, L., Liang, J., et al.: Steady-state mean-square error analysis for adaptive filtering under the maximum correntropy criterion. IEEE Signal Process. Lett. 21(7), 880\u2013884 (2014)","journal-title":"IEEE Signal Process. Lett."},{"issue":"5","key":"1803_CR27","doi-asserted-by":"publisher","first-page":"1470","DOI":"10.1016\/j.asr.2014.12.005","volume":"55","author":"H Guo","year":"2015","unstructured":"Guo, H., Guo, J., Yu, M., et al.: A weighted combination filter with nonholonomic constrains for integrated navigation systems. Adv. Space Res. 55(5), 1470\u20131476 (2015)","journal-title":"Adv. Space Res."},{"issue":"9","key":"1803_CR28","doi-asserted-by":"publisher","first-page":"272","DOI":"10.3390\/mi8090272","volume":"8","author":"Y Ban","year":"2017","unstructured":"Ban, Y., Niu, X., Zhang, T., et al.: Modeling and quantitative analysis of GNSS\/INS deep integration tracking loops in high dynamics. Micromachines 8(9), 272 (2017)","journal-title":"Micromachines"},{"issue":"3","key":"1803_CR29","doi-asserted-by":"publisher","first-page":"42","DOI":"10.1109\/CC.2013.6488829","volume":"10","author":"Z Deng","year":"2013","unstructured":"Deng, Z., Yu, Y., Xie, Y., et al.: Situation and development tendency of indoor positioning. China Commun. 10(3), 42\u201355 (2013)","journal-title":"China Commun."},{"key":"1803_CR30","doi-asserted-by":"publisher","unstructured":"Gultekin, S., Paisley, J.: Nonlinear Kalman filtering with divergence minimization. IEEE Trans. Signal Process. (2017). \nhttps:\/\/doi.org\/10.1109\/TSP.2017.2752729","DOI":"10.1109\/TSP.2017.2752729"},{"issue":"9","key":"1803_CR31","doi-asserted-by":"publisher","first-page":"1520","DOI":"10.3724\/SP.J.1004.2012.01520","volume":"38","author":"C Zhou","year":"2012","unstructured":"Zhou, C., Xiao, J.: Improved strong track filter and its application to vehicle state estimation. Acta Autom. Sin. 38(9), 1520 (2012)","journal-title":"Acta Autom. Sin."},{"key":"1803_CR32","first-page":"1032","volume":"7","author":"F Sun","year":"2012","unstructured":"Sun, F., Tang, L.J.: INS\/GPS integrated navigation filter algorithm based on cubature Kalman filter. Control Decis. 7, 1032\u20131036 (2012)","journal-title":"Control Decis."},{"issue":"4","key":"1803_CR33","doi-asserted-by":"publisher","first-page":"795","DOI":"10.1007\/s10291-015-0489-6","volume":"20","author":"H Liu","year":"2016","unstructured":"Liu, H., Meng, X., Chen, Z., et al.: A closed-loop EKF and multi-failure diagnosis approach for cooperative GNSS positioning. GPS Solut. 20(4), 795\u2013805 (2016)","journal-title":"GPS Solut."}],"container-title":["Cluster Computing"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10586-018-1803-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10586-018-1803-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10586-018-1803-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,12,2]],"date-time":"2019-12-02T14:07:59Z","timestamp":1575295679000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10586-018-1803-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,1,29]]},"references-count":33,"journal-issue":{"issue":"S4","published-print":{"date-parts":[[2019,7]]}},"alternative-id":["1803"],"URL":"https:\/\/doi.org\/10.1007\/s10586-018-1803-1","relation":{},"ISSN":["1386-7857","1573-7543"],"issn-type":[{"value":"1386-7857","type":"print"},{"value":"1573-7543","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,1,29]]},"assertion":[{"value":"28 November 2017","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 January 2018","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 January 2018","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 January 2018","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}