{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,7]],"date-time":"2026-03-07T19:09:01Z","timestamp":1772910541443,"version":"3.50.1"},"reference-count":47,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2019,3,1]],"date-time":"2019-03-01T00:00:00Z","timestamp":1551398400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"1\u3001National Key Research and Development Program of China  2\u3001NSFC","award":["1\u30012016YFB0502200 and 2016YFB0502201  2\u300191638203"],"award-info":[{"award-number":["1\u30012016YFB0502200 and 2016YFB0502201  2\u300191638203"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>More and more applications of location-based services lead to the development of indoor positioning technology. Wi-Fi-based indoor localization has been attractive due to its extensive distribution and low cost properties. IEEE 802.11-2016 now includes a Wi-Fi Fine Time Measurement (FTM) protocol which provides a more robust approach for Wi-Fi ranging between the mobile terminal and Wi-Fi access point (AP). To improve the positioning accuracy, in this paper, we propose a robust dead reckoning algorithm combining the results of Wi-Fi FTM and multiple sensors (DRWMs). A real-time Wi-Fi ranging model is built which can effectively reduce the Wi-Fi ranging errors, and then a multisensor multi-pattern-based dead reckoning is presented. In addition, the Unscented Kalman filter (UKF) is applied to fuse the results of Wi-Fi ranging model and multiple sensors. The experiment results show that the proposed DRWMs algorithm can achieve accurate localization performance in line-of-sight\/non-line-of-sight (LOS)\/(NLOS) mixed indoor environment. Compared with the traditional Wi-Fi positioning method and the traditional dead reckoning method, the proposed algorithm is more stable and has better real-time performance for indoor positioning.<\/jats:p>","DOI":"10.3390\/rs11050504","type":"journal-article","created":{"date-parts":[[2019,3,4]],"date-time":"2019-03-04T05:45:36Z","timestamp":1551678336000},"page":"504","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":75,"title":["A Robust Dead Reckoning Algorithm Based on Wi-Fi FTM and Multiple Sensors"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3529-585X","authenticated-orcid":false,"given":"Yue","family":"Yu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan 430079, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6683-2342","authenticated-orcid":false,"given":"Ruizhi","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan 430079, China"},{"name":"Collaborative Innovation Center of Geospatial Technology, Wuhan University, Wuhan 430079, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9791-5183","authenticated-orcid":false,"given":"Liang","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan 430079, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7494-0914","authenticated-orcid":false,"given":"Guangyi","family":"Guo","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan 430079, China"}]},{"given":"Feng","family":"Ye","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan 430079, China"}]},{"given":"Zuoya","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, Wuhan 430079, China"}]}],"member":"1968","published-online":{"date-parts":[[2019,3,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1316","DOI":"10.1109\/TMTT.2008.923351","article-title":"Investigation of high-accuracy indoor 3-d positioning using UWB technology","volume":"56","author":"Mahfouz","year":"2008","journal-title":"IEEE Trans. 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