{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,7]],"date-time":"2026-09-07T03:07:59Z","timestamp":1788750479055,"version":"build-2803163510"},"reference-count":41,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T00:00:00Z","timestamp":1790812800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/100007847","name":"Natural Science Foundation of Jilin Province","doi-asserted-by":"publisher","award":["20220101240JC"],"award-info":[{"award-number":["20220101240JC"]}],"id":[{"id":"10.13039\/100007847","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100015800","name":"Jilin Province Development and Reform Commission","doi-asserted-by":"publisher","award":["2024C007-3"],"award-info":[{"award-number":["2024C007-3"]}],"id":[{"id":"10.13039\/100015800","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Engineering Applications of Artificial Intelligence"],"published-print":{"date-parts":[[2026,10]]},"DOI":"10.1016\/j.engappai.2026.115880","type":"journal-article","created":{"date-parts":[[2026,8,7]],"date-time":"2026-08-07T16:13:53Z","timestamp":1786119233000},"page":"115880","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"P1","title":["Global navigation satellite system\/ultra wideband-referenced positioning for visual\u2013inertial augmentation in indoor\u2013outdoor transitions"],"prefix":"10.1016","volume":"182","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5079-3788","authenticated-orcid":false,"given":"Linlin","family":"Xia","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xianlin","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kai","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiuyu","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-0927-6222","authenticated-orcid":false,"given":"Heng","family":"Ruan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"10","key":"10.1016\/j.engappai.2026.115880_b1","doi-asserted-by":"crossref","first-page":"1157","DOI":"10.1177\/0278364915620033","article-title":"The EuRoC micro aerial vehicle datasets","volume":"35","author":"Burri","year":"2016","journal-title":"Int. J. Robot. Res."},{"issue":"6","key":"10.1016\/j.engappai.2026.115880_b2","doi-asserted-by":"crossref","first-page":"905","DOI":"10.1007\/s10514-021-09992-7","article-title":"VIR-SLAM: Visual, inertial, and ranging SLAM for single and multi-robot systems","volume":"45","author":"Cao","year":"2021","journal-title":"Auton. Robots"},{"issue":"4","key":"10.1016\/j.engappai.2026.115880_b3","doi-asserted-by":"crossref","first-page":"2004","DOI":"10.1109\/TRO.2021.3133730","article-title":"GVINS: Tightly coupled GNSS-visual-inertial fusion for smooth and consistent state estimation","volume":"38","author":"Cao","year":"2022","journal-title":"IEEE Trans. Robot."},{"key":"10.1016\/j.engappai.2026.115880_b4","series-title":"PP-LCNet: A lightweight CPU convolutional neural network","first-page":"1","author":"Cui","year":"2021"},{"key":"10.1016\/j.engappai.2026.115880_b5","series-title":"2018 IEEE\/CVF Conference on Computer Vision and Pattern Recognition Workshops","first-page":"1","article-title":"KCNN: Extremely-efficient hardware keypoint detection with a compact convolutional neural network","author":"Di Febbo","year":"2018"},{"key":"10.1016\/j.engappai.2026.115880_b6","doi-asserted-by":"crossref","first-page":"496","DOI":"10.1016\/j.isatra.2023.07.006","article-title":"Optimal vector matching fusion method for bionic compound eye polarization compass and inertial sensor integration","volume":"141","author":"Dou","year":"2023","journal-title":"ISA Trans."},{"key":"10.1016\/j.engappai.2026.115880_b7","series-title":"2012 IEEE Conference on Computer Vision & Pattern Recognition","first-page":"3354","article-title":"Are we ready for autonomous driving? The KITTI vision benchmark suite","author":"Geiger","year":"2012"},{"issue":"1","key":"10.1016\/j.engappai.2026.115880_b8","doi-asserted-by":"crossref","first-page":"683","DOI":"10.1109\/LRA.2023.3335772","article-title":"Range-visual-inertial sensor fusion for micro aerial vehicle localization and navigation","volume":"9","author":"Goudar","year":"2024","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.engappai.2026.115880_b9","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.conengprac.2021.104926","article-title":"Geometric stochastic filter with guaranteed performance for autonomous navigation based on IMU and feature sensor fusion","volume":"116","author":"Hashim","year":"2021","journal-title":"Control Eng. Pract."},{"issue":"7500709","key":"10.1016\/j.engappai.2026.115880_b10","first-page":"1","article-title":"An integrated GNSS\/LiDAR-SLAM pose estimation framework for large-scale map building in partially GNSS-denied environments","volume":"70","author":"He","year":"2021","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"10.1016\/j.engappai.2026.115880_b11","series-title":"MobileNets: Efficient convolutional neural networks for mobile vision applications","first-page":"1","author":"Howard","year":"2017"},{"key":"10.1016\/j.engappai.2026.115880_b12","series-title":"2022 IEEE International Conference on Robotics and Automation","first-page":"9484","article-title":"Tightly-coupled GNSS-aided Visual-Inertial Localization","author":"Lee","year":"2022"},{"issue":"17","key":"10.1016\/j.engappai.2026.115880_b13","doi-asserted-by":"crossref","first-page":"1","DOI":"10.3390\/rs16173245","article-title":"UVIO: Adaptive Kalman filtering UWB-aided visual-inertial slam system for complex indoor environments","volume":"16","author":"Li","year":"2024","journal-title":"Remote. Sens."},{"issue":"1","key":"10.1016\/j.engappai.2026.115880_b14","first-page":"1","article-title":"A lunar rover location method based on the fusion of multi-source ranging and visual inertia","volume":"21","author":"Li","year":"2024","journal-title":"Space Electron. Technol."},{"issue":"2","key":"10.1016\/j.engappai.2026.115880_b15","doi-asserted-by":"crossref","first-page":"2116","DOI":"10.1109\/TITS.2023.3314836","article-title":"Tightly coupled integration of GNSS\/UWB\/VIO for reliable and seamless positioning","volume":"25","author":"Liu","year":"2024","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"1","key":"10.1016\/j.engappai.2026.115880_b16","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s10846-023-02033-8","article-title":"GRVINS: Tightly coupled GNSS-range-visual-inertial system","volume":"110","author":"Lu","year":"2024","journal-title":"J. Intell. Robot. Syst."},{"issue":"1001615","key":"10.1016\/j.engappai.2026.115880_b17","first-page":"1","article-title":"UAV navigation with monocular visual inertial odometry under GNSS-denied environment","volume":"61","author":"Luo","year":"2023","journal-title":"IEEE Trans. Geosci. Remote Sens."},{"key":"10.1016\/j.engappai.2026.115880_b18","series-title":"2016 13th Workshop on Positioning, Navigation and Communications","first-page":"1","article-title":"An alternative double-sided two-way ranging method","author":"Neirynck","year":"2016"},{"key":"10.1016\/j.engappai.2026.115880_b19","series-title":"2015 International Conference on Indoor Positioning and Indoor Navigation (IEEE IPIN)","first-page":"1","article-title":"Pose estimation using monocular vision and inertial sensors aided with ultra wide band","author":"Nyqvist","year":"2015"},{"key":"10.1016\/j.engappai.2026.115880_b20","series-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"5135","article-title":"LIO-SAM: Tightly-coupled lidar inertial odometry via smoothing and mapping","author":"Shan","year":"2020"},{"key":"10.1016\/j.engappai.2026.115880_b21","series-title":"2024 IEEE 99th Vehicular Technology Conference (VTC2024-Spring)","first-page":"1","article-title":"GVIL: Tightly coupled GNSS-Visual-Inertial-Lidar for position estimation in challenging environments","author":"Shi","year":"2024"},{"issue":"3","key":"10.1016\/j.engappai.2026.115880_b22","doi-asserted-by":"crossref","first-page":"270","DOI":"10.1177\/02783649211052312","article-title":"NTU VIRAL: A visual-inertial-ranging-lidar dataset, from an aerial vehicle viewpoint","volume":"41","author":"Thien-Minh","year":"2022","journal-title":"Int. J. Robot. Res."},{"issue":"3","key":"10.1016\/j.engappai.2026.115880_b23","doi-asserted-by":"crossref","first-page":"481","DOI":"10.26599\/TST.2021.9010044","article-title":"Overview of ultra-wideband transceivers-system architectures and applications","volume":"27","author":"Wang","year":"2022","journal-title":"Tsinghua Sci. Technol."},{"issue":"9","key":"10.1016\/j.engappai.2026.115880_b24","doi-asserted-by":"crossref","first-page":"15442","DOI":"10.1109\/JSEN.2025.3546627","article-title":"Factor graph-based tightly coupled RTK\/INS\/LiDAR system with de-drifting LiDAR data association in urban areas","volume":"25","author":"Wang","year":"2025","journal-title":"IEEE Sensors J."},{"issue":"12","key":"10.1016\/j.engappai.2026.115880_b25","doi-asserted-by":"crossref","first-page":"16327","DOI":"10.1109\/TIE.2024.3383017","article-title":"A localization method based on multiarea selection and error compensation for indoor wireless sensor network","volume":"71","author":"Wang","year":"2024","journal-title":"IEEE Trans. Ind. Electron."},{"key":"10.1016\/j.engappai.2026.115880_b26","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.engappai.2024.109001","article-title":"Visual localization on point and line combination in dynamic environments","volume":"136","author":"Wei","year":"2024","journal-title":"Eng. Appl. Artif. Intell."},{"key":"10.1016\/j.engappai.2026.115880_b27","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.psep.2025.108162","article-title":"An innovative neural network architecture designed for industrial fault diagnosis with hierarchical adaptive attention mechanism","volume":"205","author":"Wu","year":"2026","journal-title":"Process. Saf. Environ. Prot."},{"key":"10.1016\/j.engappai.2026.115880_b28","first-page":"1","article-title":"Measure for semantics and semantically constrained pose optimization: A review","volume":"73","author":"Xia","year":"2024","journal-title":"IEEE Trans. Instrum. Meas."},{"issue":"5019211","key":"10.1016\/j.engappai.2026.115880_b29","first-page":"1","article-title":"Visual-inertial simultaneous localization and mapping: Dynamically fused point-line feature extraction and engineered robotic applications","volume":"71","author":"Xia","year":"2022","journal-title":"IEEE Trans. Instrum. Meas."},{"issue":"23","key":"10.1016\/j.engappai.2026.115880_b30","doi-asserted-by":"crossref","first-page":"50708","DOI":"10.1109\/JIOT.2025.3610186","article-title":"HPPS: A head-mounted pedestrian positioning system integrating fisheye Camera\/RTK\/PDR with factor graph optimization","volume":"12","author":"Xia","year":"2025","journal-title":"IEEE Internet Things J."},{"key":"10.1016\/j.engappai.2026.115880_b31","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.knosys.2023.111128","article-title":"Exploration of actual sky polarization patterns: From influencing factor analyses to polarized light-aided navigation","volume":"282","author":"Xia","year":"2023","journal-title":"Knowl.-Based Syst."},{"issue":"8","key":"10.1016\/j.engappai.2026.115880_b32","doi-asserted-by":"crossref","first-page":"11845","DOI":"10.1109\/TITS.2021.3107873","article-title":"G-VIDO: A vehicle dynamics and intermittent GNSS-aided visual-inertial state estimator for autonomous driving","volume":"23","author":"Xiong","year":"2022","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"10.1016\/j.engappai.2026.115880_b33","series-title":"2020 IEEE International Conference on Robotics and Automation","first-page":"8776","article-title":"Decentralized visual-inertial-UWB fusion for relative state estimation of aerial swarm","author":"Xu","year":"2020"},{"issue":"1","key":"10.1016\/j.engappai.2026.115880_b34","doi-asserted-by":"crossref","first-page":"918","DOI":"10.1109\/JIOT.2025.3625930","article-title":"A fuzzy-logic-enhanced multimodal NLOS mitigation approach for robust PPP\/INS\/UWB seamless positioning system in observability-deteriorated environment","volume":"13","author":"Zang","year":"2026","journal-title":"IEEE Internet Things J."},{"key":"10.1016\/j.engappai.2026.115880_b35","first-page":"1","article-title":"Dynamic event-triggered control for human\u2013machine cooperative systems based on dynamic authority allocation","author":"Zhang","year":"2026","journal-title":"IEEE Trans. Syst. Man Cybern.: Syst."},{"key":"10.1016\/j.engappai.2026.115880_b36","series-title":"2021 IEEE International Conference on Robotics and Automation","first-page":"146","article-title":"Conquering textureless with RF-referenced monocular vision for MAV state estimation","author":"Zhang","year":"2021"},{"issue":"11","key":"10.1016\/j.engappai.2026.115880_b37","first-page":"4038","article-title":"Lora backscatter assisted state estimator or micro aerial vehicles with online initialization","volume":"21","author":"Zhang","year":"2022","journal-title":"IEEE Trans. Mob. Comput."},{"key":"10.1016\/j.engappai.2026.115880_b38","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.asoc.2025.113811","article-title":"A lightweight network enhanced by attention-guided cross-scale interaction for underwater object detection","volume":"184","author":"Zhang","year":"2025","journal-title":"Appl. Soft Comput."},{"issue":"2","key":"10.1016\/j.engappai.2026.115880_b39","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s10462-025-11439-9","article-title":"Reinforcement learning for single-agent to multi-agent systems: from basic theory to industrial application progress, a survey","volume":"59","author":"Zhang","year":"2025","journal-title":"Artif. Intell. Rev."},{"key":"10.1016\/j.engappai.2026.115880_b40","series-title":"2018 IEEE\/CVF Conference on Computer Vision and Pattern Recognition","first-page":"6848","article-title":"ShuffleNet: An extremely efficient convolutional neural network for mobile devices","author":"Zhang","year":"2018"},{"key":"10.1016\/j.engappai.2026.115880_b41","doi-asserted-by":"crossref","first-page":"548","DOI":"10.1016\/j.isatra.2022.08.026","article-title":"Magnetic anomaly detection via a combination approach of minimum entropy and gradient orthogonal functions","volume":"134","author":"Zhou","year":"2023","journal-title":"ISA Trans."}],"container-title":["Engineering Applications of Artificial Intelligence"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0952197626021640?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0952197626021640?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,9,7]],"date-time":"2026-09-07T02:28:12Z","timestamp":1788748092000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0952197626021640"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,10]]},"references-count":41,"alternative-id":["S0952197626021640"],"URL":"https:\/\/doi.org\/10.1016\/j.engappai.2026.115880","relation":{},"ISSN":["0952-1976"],"issn-type":[{"value":"0952-1976","type":"print"}],"subject":[],"published":{"date-parts":[[2026,10]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Global navigation satellite system\/ultra wideband-referenced positioning for visual\u2013inertial augmentation in indoor\u2013outdoor transitions","name":"articletitle","label":"Article Title"},{"value":"Engineering Applications of Artificial Intelligence","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.engappai.2026.115880","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"115880"}}