{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,4]],"date-time":"2025-11-04T11:11:32Z","timestamp":1762254692640,"version":"build-2065373602"},"reference-count":27,"publisher":"MDPI AG","issue":"20","license":[{"start":{"date-parts":[[2023,10,17]],"date-time":"2023-10-17T00:00:00Z","timestamp":1697500800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Academy of Finland projects","award":["336145","337656","42101445","62103192"],"award-info":[{"award-number":["336145","337656","42101445","62103192"]}]},{"name":"Forest-Human-Machine Interplay\u2014Building Resilience, Redefining Value Networks and Enabling Meaningful Experiences (UNITE)","award":["336145","337656","42101445","62103192"],"award-info":[{"award-number":["336145","337656","42101445","62103192"]}]},{"name":"Strategic Research Council project","award":["336145","337656","42101445","62103192"],"award-info":[{"award-number":["336145","337656","42101445","62103192"]}]},{"name":"National Natural Science Foundation of China","award":["336145","337656","42101445","62103192"],"award-info":[{"award-number":["336145","337656","42101445","62103192"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>A smartphone equipped with a Global Navigation Satellite System (GNSS) module can generate positional information for location-based services. However, GNSS signals are susceptible to fragility, multipath (MP), and Non-Line-Of-Sight (NLOS) interference, which can lead to a degradation in the accuracy of GNSS positioning on smartphones. Due to limitations in the smartphone\u2019s antenna, GNSS signal strength is typically lower. Moreover, in urban areas, where smartphones rely on GNSS, MP and NLOS signals are the primary factors impeding accurate positioning. In this paper, with the goal of enhancing both the accuracy and robustness of smartphone GNSS positioning, we propose two methods. Firstly, an optimized particle filter method employing a Krill Herd Algorithm (KHA) is suggested for the integration of GNSS and Pedestrian Dead Reckoning (PDR). Secondly, a probabilistic approach is presented to identify faulty GNSS measurements using step distance information obtained from the PDR. Experimental tests were conducted using smartphones to evaluate the performance of the proposed method. The results demonstrate that both the KHA and fault detection methods effectively enhance the performance of integrated PDR and GNSS.<\/jats:p>","DOI":"10.3390\/rs15204993","type":"journal-article","created":{"date-parts":[[2023,10,17]],"date-time":"2023-10-17T08:10:19Z","timestamp":1697530219000},"page":"4993","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["A Probabilistic Method-Based Smartphone GNSS Fault Detection and Exclusion System Utilizing PDR Step Length"],"prefix":"10.3390","volume":"15","author":[{"given":"Changhui","family":"Jiang","sequence":"first","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0148-3609","authenticated-orcid":false,"given":"Yuwei","family":"Chen","sequence":"additional","affiliation":[{"name":"Laboratory of Advanced Laser Technology of Anhui Province, Hefei 230037, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zuoya","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Photogrammetry and Remote Sensing, Finnish Geospatial Research Institute, 02150 Espoo, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qingyuan","family":"Xia","sequence":"additional","affiliation":[{"name":"School of Computer Science and Engineering, Nanjing University of Science and Technology, Nanjing 210094, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chen","family":"Chen","sequence":"additional","affiliation":[{"name":"Laboratory of Advanced Laser Technology of Anhui Province, Hefei 230037, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juha","family":"Hyyppa","sequence":"additional","affiliation":[{"name":"Laboratory of Advanced Laser Technology of Anhui Province, Hefei 230037, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,10,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"5138","DOI":"10.1109\/TIM.2019.2955798","article-title":"Constrained MEMS-based GNSS\/INS tightly coupled system with robust Kalman filter for accurate land vehicular navigation","volume":"69","author":"Wang","year":"2019","journal-title":"IEEE Trans. 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