{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,5]],"date-time":"2026-08-05T18:17:41Z","timestamp":1785953861399,"version":"3.56.0"},"reference-count":62,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2020,1,7]],"date-time":"2020-01-07T00:00:00Z","timestamp":1578355200000},"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":["51805143"],"award-info":[{"award-number":["51805143"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Introduced Overseas High-level Talents Project","award":["E2019050014"],"award-info":[{"award-number":["E2019050014"]}]},{"DOI":"10.13039\/501100003787","name":"Natural Science Foundation of Hebei Province","doi-asserted-by":"publisher","award":["E2019202131"],"award-info":[{"award-number":["E2019202131"]}],"id":[{"id":"10.13039\/501100003787","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Introduced Overseas Talent Supporting Project of Hebei Province","award":["C20190324"],"award-info":[{"award-number":["C20190324"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Wearable indoor localization can now find applications in a wide spectrum of fields, including the care of children and the elderly, sports motion analysis, rehabilitation medicine, robotics navigation, etc. Conventional inertial measurement unit (IMU)-based position estimation and radio signal indoor localization methods based on WiFi, Bluetooth, ultra-wide band (UWB), and radio frequency identification (RFID) all have their limitations regarding cost, accuracy, or usability, and a combination of the techniques has been considered a promising way to improve the accuracy. This investigation aims to provide a cost-effective wearable sensing solution with data fusion algorithms for indoor localization and real-time motion analysis. The main contributions of this investigation are: (1) the design of a wireless, battery-powered, and light-weight wearable sensing device integrating a low-cost UWB module-DWM1000 and micro-electromechanical system (MEMS) IMU-MPU9250 for synchronized measurement; (2) the implementation of a Mahony complementary filter for noise cancellation and attitude calculation, and quaternions for frame rotation to obtain the continuous attitude for displacement estimation; (3) the development of a data fusion model integrating the IMU and UWB data to enhance the measurement accuracy using Kalman-filter-based time-domain iterative compensations; and (4) evaluation of the developed sensor module by comparing it with UWB- and IMU-only solutions. The test results demonstrate that the average error of the integrated module reached 7.58 cm for an arbitrary walking path, which outperformed the IMU- and UWB-only localization solutions. The module could recognize lateral roll rotations during normal walking, which could be potentially used for abnormal gait recognition.<\/jats:p>","DOI":"10.3390\/s20020344","type":"journal-article","created":{"date-parts":[[2020,1,8]],"date-time":"2020-01-08T03:59:57Z","timestamp":1578455997000},"page":"344","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":55,"title":["Cost-Effective Wearable Indoor Localization and Motion Analysis via the Integration of UWB and IMU"],"prefix":"10.3390","volume":"20","author":[{"given":"Hui","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6645-6647","authenticated-orcid":false,"given":"Zonghua","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nan","family":"Gao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yanjun","family":"Xiao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8159-7173","authenticated-orcid":false,"given":"Zhaozong","family":"Meng","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0868-4780","authenticated-orcid":false,"given":"Zhen","family":"Li","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"},{"name":"Nondestructive Detection and Monitoring Technology for High Speed Transportation Facilities, Key Laboratory of Ministry of Industry and Information Technology, Nanjing 211100, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,1,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"466","DOI":"10.1109\/COMST.2015.2464084","article-title":"Wi-Fi fingerprint-based indoor positioning: Recent advances and comparisons","volume":"18","author":"He","year":"2016","journal-title":"IEEE Commun. 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