{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T21:12:14Z","timestamp":1772572334768,"version":"3.50.1"},"reference-count":37,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2022,10,27]],"date-time":"2022-10-27T00:00:00Z","timestamp":1666828800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"The Hong Kong Polytechnic University","award":["1-ZVN6"],"award-info":[{"award-number":["1-ZVN6"]}]},{"name":"The Hong Kong Polytechnic University","award":["4-BCF7"],"award-info":[{"award-number":["4-BCF7"]}]},{"name":"The Hong Kong Polytechnic University","award":["1-ZVE8"],"award-info":[{"award-number":["1-ZVE8"]}]},{"name":"The Hong Kong Polytechnic University","award":["T22-505\/19-N"],"award-info":[{"award-number":["T22-505\/19-N"]}]},{"name":"The State Bureau of Surveying and Mapping, P.R. China","award":["1-ZVN6"],"award-info":[{"award-number":["1-ZVN6"]}]},{"name":"The State Bureau of Surveying and Mapping, P.R. China","award":["4-BCF7"],"award-info":[{"award-number":["4-BCF7"]}]},{"name":"The State Bureau of Surveying and Mapping, P.R. China","award":["1-ZVE8"],"award-info":[{"award-number":["1-ZVE8"]}]},{"name":"The State Bureau of Surveying and Mapping, P.R. China","award":["T22-505\/19-N"],"award-info":[{"award-number":["T22-505\/19-N"]}]},{"name":"Hong Kong Research Grants Council","award":["1-ZVN6"],"award-info":[{"award-number":["1-ZVN6"]}]},{"name":"Hong Kong Research Grants Council","award":["4-BCF7"],"award-info":[{"award-number":["4-BCF7"]}]},{"name":"Hong Kong Research Grants Council","award":["1-ZVE8"],"award-info":[{"award-number":["1-ZVE8"]}]},{"name":"Hong Kong Research Grants Council","award":["T22-505\/19-N"],"award-info":[{"award-number":["T22-505\/19-N"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Crowdsourced localization using geo-spatial big data has become an effective approach for constructing smart-city-based location services with the fast growing number of Internet of Things terminals. This paper presents a self-calibrated multi-floor indoor positioning framework using a combination of Wi-Fi ranging, crowdsourced fingerprinting and low-cost sensors (SM-WRFS). The localization parameters, such as heading and altitude biases, step-length scale factor, and Wi-Fi ranging bias are autonomously calibrated to provide a more accurate forward 3D localization performance. In addition, the backward smoothing algorithm and a novel deep-learning model are applied in order to construct an autonomous and efficient crowdsourced Wi-Fi fingerprinting database using the detected quick response (QR) code-based landmarks. Finally, the adaptive extended Kalman filter is adopted to combine the corresponding location sources using different integration models to provide a precise multi-source fusion based multi-floor indoor localization performance. The real-world experiments demonstrate that the presented SM-WRFS is proven to realize precise 3D indoor positioning under different environments, and the meter-level positioning accuracy can be acquired in Wi-Fi ranging supported indoor areas.<\/jats:p>","DOI":"10.3390\/rs14215376","type":"journal-article","created":{"date-parts":[[2022,10,27]],"date-time":"2022-10-27T04:35:17Z","timestamp":1666845317000},"page":"5376","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["Self-Calibrated Multi-Floor Localization Based on Wi-Fi Ranging\/Crowdsourced Fingerprinting and Low-Cost Sensors"],"prefix":"10.3390","volume":"14","author":[{"given":"Qiao","family":"Wan","sequence":"first","affiliation":[{"name":"College of Computer Science and Technology, Guizhou University, Guiyang 550025, China"}]},{"given":"Xiaoqi","family":"Duan","sequence":"additional","affiliation":[{"name":"College of Computer Science and Technology, Guizhou University, Guiyang 550025, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3529-585X","authenticated-orcid":false,"given":"Yue","family":"Yu","sequence":"additional","affiliation":[{"name":"Department of Land Surveying and Geo-Informatics, The Hong Kong Polytechnic University, Hong Kong 999077, 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"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7083-6001","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"}]}],"member":"1968","published-online":{"date-parts":[[2022,10,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1067","DOI":"10.1109\/TSMCC.2007.905750","article-title":"Survey of wireless indoor positioning techniques and systems","volume":"37","author":"Liu","year":"2007","journal-title":"IEEE Trans. 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