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In this paper, we propose two novel different data fusion algorithms to track a pedestrian using current positioning technologies (i.e., GPS, received signal strength localization from Wi-Fi or Bluetooth networks, etc.) and low cost inertial sensors. In particular, the algorithms rely, respectively, on an extended Kalman filter (EKF) and a simplified complementary Kalman filter (KF). Both approaches have been tested with real data, showing clear accuracy improvement with respect to raw positioning data, with much reduced computational cost with respect to previous high performance solutions in literature. The fusion of both inputs is done in a loosely coupled way, so the system can adapt to the infrastructure that is available at a specific moment, delivering both outdoors and indoors solutions. <\/jats:p>","DOI":"10.1155\/2014\/850835","type":"journal-article","created":{"date-parts":[[2014,9,5]],"date-time":"2014-09-05T03:29:36Z","timestamp":1409887776000},"page":"850835","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":5,"title":["Simplified Pedestrian Tracking Filters with Positioning and Foot-Mounted Inertial Sensors"],"prefix":"10.1177","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2399-8347","authenticated-orcid":false,"given":"Henar","family":"Martin","sequence":"first","affiliation":[{"name":"Universidad Polit\u00e9cnica de Madrid, ETSI Telecomunicaci\u00f3n, Avenida Complutense 30, 28040 Madrid, Spain"}]},{"given":"Juan A.","family":"Besada","sequence":"additional","affiliation":[{"name":"Universidad Polit\u00e9cnica de Madrid, ETSI Telecomunicaci\u00f3n, Avenida Complutense 30, 28040 Madrid, Spain"}]},{"given":"Ana M.","family":"Bernardos","sequence":"additional","affiliation":[{"name":"Universidad Polit\u00e9cnica de Madrid, ETSI Telecomunicaci\u00f3n, Avenida Complutense 30, 28040 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3289-7348","authenticated-orcid":false,"given":"Eduardo","family":"Metola","sequence":"additional","affiliation":[{"name":"Universidad Polit\u00e9cnica de Madrid, ETSI Telecomunicaci\u00f3n, Avenida Complutense 30, 28040 Madrid, Spain"}]},{"given":"Jos\u00e9 R.","family":"Casar","sequence":"additional","affiliation":[{"name":"Universidad Polit\u00e9cnica de Madrid, ETSI Telecomunicaci\u00f3n, Avenida Complutense 30, 28040 Madrid, Spain"}]}],"member":"179","published-online":{"date-parts":[[2014,9,3]]},"reference":[{"key":"B1-2014-850835","doi-asserted-by":"publisher","DOI":"10.1109\/PLANS.2008.4570123"},{"volume-title":"Proceedings of the International Conference on Signal, Image, Vision and their Applications (SIVA '11)","author":"Elloumi W.","key":"B5-2014-850835"},{"issue":"4","key":"B4-2014-850835","first-page":"22","volume":"9","author":"Gartner G.","year":"2005","journal-title":"GIS Development"},{"key":"B6-2014-850835","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2010.2044238"},{"first-page":"220","volume-title":"Proceedings of the International Technical Meeting of the Institute of Navigation (ION '10)","author":"Wan S.","key":"B14-2014-850835"},{"volume-title":"MEMs-Based Integrated Navigation","year":"2010","author":"Aggarwal P.","key":"B7-2014-850835"},{"volume-title":"Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems","year":"2008","author":"Grooves P. 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