{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:18:55Z","timestamp":1760242735419,"version":"build-2065373602"},"reference-count":36,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2016,5,11]],"date-time":"2016-05-11T00:00:00Z","timestamp":1462924800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61301132","61300188","61301131"],"award-info":[{"award-number":["61301132","61300188","61301131"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2014M561347"],"award-info":[{"award-number":["2014M561347"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes a novel heading estimation approach for indoor pedestrian navigation using the built-in inertial sensors on a smartphone. Unlike previous approaches constraining the carrying position of a smartphone on the user\u2019s body, our approach gives the user a larger freedom by implementing automatic recognition of the device carrying position and subsequent selection of an optimal strategy for heading estimation. We firstly predetermine the motion state by a decision tree using an accelerometer and a barometer. Then, to enable accurate and computational lightweight carrying position recognition, we combine a position classifier with a novel position transition detection algorithm, which may also be used to avoid the confusion between position transition and user turn during pedestrian walking. For a device placed in the trouser pockets or held in a swinging hand, the heading estimation is achieved by deploying a principal component analysis (PCA)-based approach. For a device held in the hand or against the ear during a phone call, user heading is directly estimated by adding the yaw angle of the device to the related heading offset. Experimental results show that our approach can automatically detect carrying positions with high accuracy, and outperforms previous heading estimation approaches in terms of accuracy and applicability.<\/jats:p>","DOI":"10.3390\/s16050677","type":"journal-article","created":{"date-parts":[[2016,5,11]],"date-time":"2016-05-11T10:53:59Z","timestamp":1462964039000},"page":"677","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Carrying Position Independent User Heading Estimation for Indoor Pedestrian Navigation with Smartphones"],"prefix":"10.3390","volume":"16","author":[{"given":"Zhi-An","family":"Deng","sequence":"first","affiliation":[{"name":"School of Information Science and Technology, Dalian Maritime University, Dalian 116026, China"}]},{"given":"Guofeng","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Information Science and Technology, Dalian Maritime University, Dalian 116026, China"}]},{"given":"Ying","family":"Hu","sequence":"additional","affiliation":[{"name":"School of Information Science and Technology, Dalian Maritime University, Dalian 116026, China"}]},{"given":"Yang","family":"Cui","sequence":"additional","affiliation":[{"name":"School of computer science and technology, Harbin Institute of Technology, Harbin 150001, China"}]}],"member":"1968","published-online":{"date-parts":[[2016,5,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1109\/MSP.2005.1458289","article-title":"Localization via ultra-wideband radios","volume":"22","author":"Gezici","year":"2005","journal-title":"IEEE Signal Process. Mag."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"2065","DOI":"10.1109\/TPDS.2013.217","article-title":"Fault-tolerant RFID reader localization based on passive RFID tags","volume":"25","author":"Kong","year":"2014","journal-title":"IEEE Trans. Parallel Distrib."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"738","DOI":"10.1016\/j.comcom.2011.12.011","article-title":"Indoor positioning via nonlinear discriminative feature extraction in wireless local area network","volume":"35","author":"Deng","year":"2012","journal-title":"Comput. Commun."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"24791","DOI":"10.3390\/s151024791","article-title":"PRIMAL: Page rank-based indoor mapping and localization using gene-sequenced unlabeled WLAN received signal strength","volume":"15","author":"Zhou","year":"2015","journal-title":"Sensors"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"31244","DOI":"10.3390\/s151229850","article-title":"An indoor continuous positioning algorithm on the move by fusing sensors and Wi-Fi on smartphones","volume":"15","author":"Li","year":"2015","journal-title":"Sensors"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"22864","DOI":"10.3390\/s141222864","article-title":"Magnetic, acceleration fields and gyroscope quaternion (MAGYQ)-based attitude estimation with smartphone sensors for indoor pedestrian navigation","volume":"14","author":"Renaudin","year":"2014","journal-title":"Sensors"},{"key":"ref_7","unstructured":"Olguin, D.O., and Pentland, A. (2009, January 6). Sensor-based organizational engineering. Proceedings of the ICMI-MLMI Workshop Multimodal Sensor-Based Systems Mobile Phones Social Computing, Cambridge, MA, USA."},{"key":"ref_8","unstructured":"Kyunghoon, I.M., Jeicheong, K., and Mun, R.M. (2003, January 14\u201319). Face direction based human-computer interface using image observation and EMG signal for the disabled. Proceedings of the IEEE International Conference on Robotics Automation, Taipei, China."},{"key":"ref_9","unstructured":"Jung, W., Woo, W., and Lee, S. (2005, January 11\u201314). Orientation tracking exploiting ubiTrack. Proceedings of the UbiComp 2005, Tokyo, Japan."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"1166","DOI":"10.1109\/TIM.2003.815996","article-title":"Visual odometer for pedestrian navigation","volume":"52","author":"Jirawimut","year":"2003","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Jin, Y., Toh, H.S., Soh, W.S., and Wong, W.C. (2011, January 21\u201325). A robust dead-reckoning pedestrian tracking system with low cost sensors. Proceedings of the IEEE International Conference on the Pervasive Computing and Communications (PerCom), Seattle, WA, USA.","DOI":"10.1109\/PERCOM.2011.5767590"},{"key":"ref_12","unstructured":"Callmer, J., Tornqvist, D., and Gustafsson, F. (2013, January 9\u201312). Robust heading estimation indoors using convex optimization. Proceedings of the 16th International Conference on Information Fusion (FUSION), Istanbul, Turkey."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"523","DOI":"10.3390\/mi6040523","article-title":"Extended kalman filter for real time indoor localization by fusing WiFi and smartphone inertial sensors","volume":"6","author":"Deng","year":"2015","journal-title":"Micromachines"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"4062","DOI":"10.1109\/JSEN.2015.2410756","article-title":"Autonomous calibration of MEMS gyros in consumer portable devices","volume":"15","author":"Li","year":"2015","journal-title":"IEEE Sens. J."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Ichikawa, F., Chipchase, J., and Grignani, R. (2005, January 15\u201317). Where\u2019s the phone? A study of mobile phone location in public spaces. Proceedings of the 2005 Mobility Conference on Mobile Technology Applications & Systems Retrieve, Guangzhou, China.","DOI":"10.1049\/cp:20051557"},{"key":"ref_16","unstructured":"Kai, K., Lukowicz, P., Partridge, K., and Begole, B. (2009, January 4\u20137). Which way am I facing: Inferring horizontal device orientation from an accelerometer signal?. Proceedings of the International Symposium on Wearable Computers, Linz, Austria."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"21518","DOI":"10.3390\/s150921518","article-title":"Heading estimation for indoor pedestrian navigation using a smartphone in the pocket","volume":"15","author":"Deng","year":"2015","journal-title":"Sensors"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1981","DOI":"10.1109\/TMC.2013.53","article-title":"Design, realization, and evaluation of uDirect-An approach for pervasive observation of user facing direction on mobile phones","volume":"13","author":"Hoseinitabatabaei","year":"2014","journal-title":"IEEE Trans. Mob. Comput."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"38","DOI":"10.1109\/MCG.2005.140","article-title":"Pedestrian tracking with shoe-mounted inertial sensors","volume":"25","author":"Foxlin","year":"2005","journal-title":"IEEE Comput. Graph. Appl."},{"key":"ref_20","first-page":"287","article-title":"Pedestrian navigation based on inertial sensors, indoor map and WLAN signals","volume":"71","author":"Collin","year":"2012","journal-title":"J. Signal Process. Syst."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"715","DOI":"10.3390\/s150100715","article-title":"Fusion of WiFi, smartphone sensors and landmarks using the Kalman filter for indoor localization","volume":"15","author":"Chen","year":"2015","journal-title":"Sensors"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Steinhoff, U., and Schiele, B. (April, January 29). Dead reckoning from the pocket\u2014An experimental study. Proceedings of the 2010 IEEE International Conference on Pervasive Computing and Communications (PerCom), Mannheim, Germany.","DOI":"10.1109\/PERCOM.2010.5466978"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"10146","DOI":"10.3390\/s140610146","article-title":"Fusion of smartphone motion sensors for physical activity recognition","volume":"14","author":"Shoaib","year":"2014","journal-title":"Sensors"},{"key":"ref_24","first-page":"1","article-title":"SemanticSLAM: Using environment landmarks for unsupervised indoor localization","volume":"1","author":"Abdelnasser","year":"2015","journal-title":"IEEE Trans. Mob. Comput."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"347","DOI":"10.3390\/mi6030347","article-title":"Smartphone-based indoor integrated WiFi\/MEMS positioning algorithm in a multi-floor environment","volume":"6","author":"Tian","year":"2015","journal-title":"Micromachines"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Kourogi, M., and Kurata, T. (2014, January 5\u20138). A method of pedestrian dead reckoning for smartphones using frequency domain analysis on patterns of acceleration and angular velocity. Proceedings of the 2014 IEEE\/ION Position, Location and Navigation Symposium, Monterey, CA, USA.","DOI":"10.1109\/PLANS.2014.6851371"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"5032","DOI":"10.3390\/s150305032","article-title":"Vector graph assisted pedestrian dead reckoning using an unconstrained smartphone","volume":"15","author":"Qian","year":"2015","journal-title":"Sensors"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Bravo, J., Hervs, R., and Rodrguez, M. (2012). Ambient Assisted Living and Home Care, Springer.","DOI":"10.1007\/978-3-642-35395-6"},{"key":"ref_29","unstructured":"Kose, M., Incel, O.D., and Ersoy, C. (2012, January 16). Online human activity recognition on smart phones. Proceedings of the Workshop on Mobile Sensing: From Smartphones and Wearables to Big Data, Beijing, China."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"5","DOI":"10.1023\/A:1010933404324","article-title":"Random forests","volume":"45","author":"Breiman","year":"2001","journal-title":"Mach. Learn."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Li, F., Zhao, C., Ding, G., Gong, J., Liu, C., and Zhao, F. (2012, January 5\u20138). A reliable and accurate indoor localization method using phone inertial sensors. Proceedings of the 14th ACM International Conference on Ubiquitous Computing, Pittsburgh, PA, USA.","DOI":"10.1145\/2370216.2370280"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"112","DOI":"10.1109\/TSMCC.2010.2093516","article-title":"Smartphone-based collaborative and autonomous radio fingerprinting","volume":"42","author":"Kim","year":"2012","journal-title":"IEEE Trans. Syst. Man Cybern. C Appl. Rev."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"8031","DOI":"10.3390\/e17127859","article-title":"An information-based approach to precision analysis of indoor WLAN localization using location fingerprint","volume":"17","author":"Zhou","year":"2015","journal-title":"Entropy"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Wang, H., Sen, S., Elgohary, A., Farid, M., Youssef, M., and Choudhury, R.R. (2012, January 25\u201329). No need to war-drive: Unsupervised indoor localization. Proceedings of the 10th International Conference on Mobile Systems, Applications, and Services, Lake District, UK.","DOI":"10.1145\/2307636.2307655"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"1346","DOI":"10.1109\/TBME.2006.875664","article-title":"Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing","volume":"53","author":"Sabatini","year":"2006","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_36","doi-asserted-by":"crossref","unstructured":"Bar-Shalom, Y., Li, X.-R., and Kirubarajan, T. (2001). Estimation with Applications to Tracking and Navigation, Wiley.","DOI":"10.1002\/0471221279"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/5\/677\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:23:41Z","timestamp":1760210621000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/5\/677"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,5,11]]},"references-count":36,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2016,5]]}},"alternative-id":["s16050677"],"URL":"https:\/\/doi.org\/10.3390\/s16050677","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2016,5,11]]}}}