{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T22:35:08Z","timestamp":1774478108151,"version":"3.50.1"},"reference-count":28,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2022,5,31]],"date-time":"2022-05-31T00:00:00Z","timestamp":1653955200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key Research and Development Plan of China","award":["2019YFC1511500"],"award-info":[{"award-number":["2019YFC1511500"]}]},{"name":"National Key Research and Development Plan of China","award":["2016YFB0502100"],"award-info":[{"award-number":["2016YFB0502100"]}]},{"name":"Intelligent Emergency Rescue Equipment Platform Technology and Equipment","award":["2019YFC1511500"],"award-info":[{"award-number":["2019YFC1511500"]}]},{"name":"Intelligent Emergency Rescue Equipment Platform Technology and Equipment","award":["2016YFB0502100"],"award-info":[{"award-number":["2016YFB0502100"]}]},{"name":"Indoor Hybrid Intelligent Positioning and Indoor GIS Technology","award":["2019YFC1511500"],"award-info":[{"award-number":["2019YFC1511500"]}]},{"name":"Indoor Hybrid Intelligent Positioning and Indoor GIS Technology","award":["2016YFB0502100"],"award-info":[{"award-number":["2016YFB0502100"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Future Internet"],"abstract":"<jats:p>In terms of indoor and outdoor positioning, in recent years, researchers at home and abroad have proposed some multisource integrated navigation and positioning methods, but these methods are navigation and positioning methods for a single scene. When it comes to the switching of indoor and outdoor complex scenes, these methods will cause the results of position with a marked jump and affect the accuracy of navigation and positioning. Aiming at the navigation and positioning problem in the case of indoor and outdoor complex scene switching, this paper proposes a multisource elastic navigation and positioning method based on particle filters, which makes full use of the redundant information of multisource sensors, constructs an elastic multisource fusion navigation and positioning model after eliminating abnormal data, elastically gives different particle weights to multisource sensors according to environmental changes and realizes the elastic fusion and positioning of multisource sensors through filtering. The test results show that this method has high navigation and positioning accuracy, the dynamic positioning accuracy is better than 0.7 m and there will be no jumping of positioning results in the process of scene switching, which improves the navigation and positioning accuracy and stability in complex and changeable indoor and outdoor environments.<\/jats:p>","DOI":"10.3390\/fi14060169","type":"journal-article","created":{"date-parts":[[2022,5,31]],"date-time":"2022-05-31T09:24:29Z","timestamp":1653989069000},"page":"169","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["An Indoor and Outdoor Multi-Source Elastic Fusion Navigation and Positioning Algorithm Based on Particle Filters"],"prefix":"10.3390","volume":"14","author":[{"given":"Guangwei","family":"Fan","sequence":"first","affiliation":[{"name":"The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang 050081, China"},{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, Shijiazhuang 050081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chuanzhen","family":"Sheng","sequence":"additional","affiliation":[{"name":"The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang 050081, China"},{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, Shijiazhuang 050081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Baoguo","family":"Yu","sequence":"additional","affiliation":[{"name":"The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang 050081, China"},{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, Shijiazhuang 050081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1064-7399","authenticated-orcid":false,"given":"Lu","family":"Huang","sequence":"additional","affiliation":[{"name":"The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang 050081, China"},{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, Shijiazhuang 050081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiang","family":"Rong","sequence":"additional","affiliation":[{"name":"The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang 050081, China"},{"name":"State Key Laboratory of Satellite Navigation System and Equipment Technology, Shijiazhuang 050081, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,31]]},"reference":[{"key":"ref_1","first-page":"82","article-title":"Analysis of the report of the US Department of defense positioning, navigation and timing system strategy","volume":"4","author":"Xue","year":"2020","journal-title":"Control Guid."},{"key":"ref_2","first-page":"44","article-title":"Changing the Game Changer, The Way Ahead for Military PNT","volume":"5","author":"McNeff","year":"2010","journal-title":"Inside GNSS"},{"key":"ref_3","first-page":"127","article-title":"Initial Realization of a Sensor Fusion Based Onboard Maritime Integrated PNT Unit","volume":"7","author":"Ziebold","year":"2013","journal-title":"Transnav Int. J. Mar. Navig. Saf. Sea Transp."},{"key":"ref_4","first-page":"6","article-title":"Resilient PNT Concept Frame","volume":"47","author":"Yang","year":"2018","journal-title":"J. Surv. Mapp."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Ahmed, A.U., Bergmann, N.W., Arablouei, R., Kusy, B., De Hoog, F., and Jurdak, R. (2018, January 11\u201313). Fast indoor localization using WiFi channel state information: Poster abstract. Proceedings of the Information Processing in Sensor Networks, Porto, Portugal.","DOI":"10.1109\/IPSN.2018.00023"},{"key":"ref_6","unstructured":"Han, C., Zhu, H., and Duan, Z. (2006). Multi-Source Information Fusion, Tsinghua University Press."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"153733","DOI":"10.1016\/j.aeue.2021.153733","article-title":"An indoor multi-source fusion positioning approach based on PDR\/MM\/WiFi","volume":"135","author":"Chen","year":"2021","journal-title":"AEU Int. J. Electron. Commun."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Nilsson, J., Rantakokko, J., Handel, P., Skog, I., Ohlsson, M., and Hari, K.V.S. (2014, January 5\u20138). Accurate indoor positioning of firefighters using dual foot-mounted inertial sensors and inter-agent ranging. Proceedings of the IEEE\/ION PLANS, Monterey, CA, USA.","DOI":"10.1109\/PLANS.2014.6851424"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"115122","DOI":"10.1088\/1361-6501\/ac17fb","article-title":"GNSS\/INS\/ODO\/wheel angle integrated navigation algorithm for an all-wheel steering robot","volume":"32","author":"Zhang","year":"2021","journal-title":"Meas. Sci. Technol."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"351","DOI":"10.1109\/JSAC.2018.2804223","article-title":"A GNSS\/5G Integrated Positioning Methodology in D2D Communication Networks","volume":"36","author":"Yin","year":"2018","journal-title":"IEEE J. Sel. Areas Commun."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"del Peral-Rosado, D., Jos\u00e9, A., Saloranta, J., Destino, G., L\u00f3pez-Salcedo, J.A., and Seco-Granados, G. (2018). Methodology for Simulating 5G and GNSS High-Accuracy Positioning. Sensors, 18.","DOI":"10.3390\/s18103220"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1186\/s43020-020-00024-w","article-title":"Role, path, and vision of \u201c5G + BDS\/GNSS\u201d","volume":"1","author":"Liu","year":"2020","journal-title":"Satell. Navig."},{"key":"ref_13","unstructured":"Bandara, U., Hasegawa, M., Inoue, M., Morikawa, H., and Aoyama, T. (2004, January 22). Design and implementation of a Bluetooth signal strength based location sensing system. Proceedings of the Radio and Wireless Conference, Atlanta, GA, USA."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Blasio, G.D., Quesadaarencibia, A., Garc\u00eda, C., Molinagil, J., and Caballerogil, C. (2017). Study on an Indoor Positioning System for Harsh Environments Based on Wi-Fi and Bluetooth Low Energy. Sensors, 17.","DOI":"10.3390\/s17061299"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Cant\u00f3n Paterna, V., Calveras Aug\u00e9, A., Paradells Aspas, J., and P\u00e9rez Bullones, M.A. (2017). A Bluetooth Low Energy Indoor Positioning System with Channel Diversity, Weighted Trilateration and Kalman Filtering. Sensors, 17.","DOI":"10.3390\/s17122927"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"6498","DOI":"10.1109\/TVT.2016.2631980","article-title":"Structured Group Sparsity: A Novel Indoor WLAN Localization, Outlier Detection, and Radio Map Interpolation Scheme","volume":"66","author":"Khalajmehrabadi","year":"2017","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1109\/MSP.2005.1458273","article-title":"Signal processing techniques in network-aided positioning: A survey of state-of-the-art positioning designs","volume":"22","author":"Sun","year":"2005","journal-title":"IEEE Signal Process. Mag."},{"key":"ref_18","unstructured":"Jiang, Y. (2014). Indoor Visible Light Communication Position Technology, Nangjing University of Posts and Telecommunications."},{"key":"ref_19","unstructured":"Manandhar, D., Kawaguchi, S., Uchida, M., Ishii, M., and Torimoto, H. (2008, January 11\u201314). IMES for mobile users social implementation and experiments based on existing cellular phones for seamless positioning. Proceedings of the International Symposium on GPS\/GNSS, Tokyo, Japan."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"153269","DOI":"10.1109\/ACCESS.2019.2948034","article-title":"A New Array Pseudolites Technology for High Precision Indoor Positioning","volume":"7","author":"Gan","year":"2019","journal-title":"IEEE Access"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Gan, X., and Yu, B. (2019). Doppler differential positioning technology using BDS\/GPS indoor array pseudolite system. Sensors, 19.","DOI":"10.3390\/s19204580"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Murata, S., Yara, C., Kaneta, K., Ioroi, S., and Tanaka, H. (2014, January 10\u201312). Accurate Indoor Positioning System Using Near-Ultrasonic Sound from a Smartphone. Proceedings of next generation mobile applications. Proceedings of the 2014 Eighth International Conference on Next Generation Mobile Apps, Services and Technologies, Oxford, UK.","DOI":"10.1109\/NGMAST.2014.17"},{"key":"ref_23","unstructured":"Zhe, D., Wu, Y., and Sun, D. (2013, January 26\u201327). Data Fusion of the Real Time Positioning System Based on RSSI and TOF. Proceedings of the Intelligent Human Machine Systems and Cybernetics (IHMSC), Hangzhou, China."},{"key":"ref_24","first-page":"54","article-title":"A Survey of Multi-source Information Fusion Navigation","volume":"37","author":"Zhao","year":"2016","journal-title":"J. Telem. Track. Command."},{"key":"ref_25","first-page":"12","article-title":"A multi-source fusion indoor and outdoor seamless positioning method","volume":"35","author":"Yao","year":"2022","journal-title":"J. Sens. Technol."},{"key":"ref_26","first-page":"5554791","article-title":"Three-Dimensional UWSN Positioning Algorithm Based on Modified RSSI Values","volume":"2021","author":"Qin","year":"2021","journal-title":"Mob. Inf. Syst."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"199187","DOI":"10.1109\/ACCESS.2020.3034080","article-title":"DoA Estimation for Lens Antenna Array via Root-MUSIC, Outlier Detection, and Clustering","volume":"8","author":"Ni","year":"2020","journal-title":"IEEE Access"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"816","DOI":"10.1109\/JSTSP.2021.3063908","article-title":"Gridless Channel Estimation for Hybrid MmWave MIMO systems via Tensor-ESPRIT Algorithms in DFT Beamspace","volume":"15","author":"Zhang","year":"2021","journal-title":"IEEE J. Sel. Top. Signal Process."}],"container-title":["Future Internet"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1999-5903\/14\/6\/169\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T23:22:31Z","timestamp":1760138551000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1999-5903\/14\/6\/169"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,31]]},"references-count":28,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2022,6]]}},"alternative-id":["fi14060169"],"URL":"https:\/\/doi.org\/10.3390\/fi14060169","relation":{},"ISSN":["1999-5903"],"issn-type":[{"value":"1999-5903","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,5,31]]}}}