{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,5,2]],"date-time":"2025-05-02T11:54:50Z","timestamp":1746186890027,"version":"3.37.3"},"reference-count":45,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2016,10,31]],"date-time":"2016-10-31T00:00:00Z","timestamp":1477872000000},"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":["61473130"],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100019537","name":"Science Fund for Distinguished Young Scholars of Hubei Province","doi-asserted-by":"crossref","award":["2015CFA047"],"id":[{"id":"10.13039\/501100019537","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["2015TS028"],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004602","name":"Program for New Century Excellent Talents in University","doi-asserted-by":"publisher","award":["NCET-12-0214"],"id":[{"id":"10.13039\/501100004602","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"In order to provide better monitoring for the elderly or patients, we developed an integrated wireless wearable sensor system that can realize posture recognition and indoor localization in real time. Five designed sensor nodes which are respectively fixed on lower limbs and a standard Kalman filter are used to acquire basic attitude data. After the attitude angles of five body segments (two thighs, two shanks and the waist) are obtained, the pitch angles of the left thigh and waist are used to realize posture recognition. Based on all these attitude angles of body segments, we can also calculate the coordinates of six lower limb joints (two hip joints, two knee joints and two ankle joints). Then, a novel relative localization algorithm based on step length is proposed to realize the indoor localization of the user. Several sparsely distributed active Radio Frequency Identification (RFID) tags are used to correct the accumulative error in the relative localization algorithm and a set-membership filter is applied to realize the data fusion. The experimental results verify the effectiveness of the proposed algorithms.<\/jats:p>","DOI":"10.3390\/s16111825","type":"journal-article","created":{"date-parts":[[2016,10,31]],"date-time":"2016-10-31T15:09:46Z","timestamp":1477926586000},"page":"1825","source":"Crossref","is-referenced-by-count":49,"title":["An Integrated Wireless Wearable Sensor System for Posture Recognition and Indoor Localization"],"prefix":"10.3390","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6267-8824","authenticated-orcid":false,"given":"Jian","family":"Huang","sequence":"first","affiliation":[{"name":"Key Laboratory of Image Processing and Intelligent Control, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China"}]},{"given":"Xiaoqiang","family":"Yu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Image Processing and Intelligent Control, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China"}]},{"given":"Yuan","family":"Wang","sequence":"additional","affiliation":[{"name":"Key Laboratory of Image Processing and Intelligent Control, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China"}]},{"given":"Xiling","family":"Xiao","sequence":"additional","affiliation":[{"name":"Department of Rehabilitation, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, 1277 Jiefang Avenue, Wuhan 430022, China"}]}],"member":"1968","published-online":{"date-parts":[[2016,10,31]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"16024","DOI":"10.1038\/micronano.2016.24","article-title":"Recent Advances in Nanorobotic Manipulation inside Scanning Electron Microscopes","volume":"8","author":"Shi","year":"2016","journal-title":"Microsys. Nanoengi."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Yang, Z., Wang, Y., Yang, B., Li, G., Chen, T., Nakajima, M., Sun, L., and Fukuda, T. (2016). Mechatronic development and vision feedback control of a nanorobotics manipulation system inside sem for nanodevice assembly. Sensors, 16.","DOI":"10.3390\/s16091479"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"3597","DOI":"10.1109\/TWC.2009.080415","article-title":"UDP identification and error mitigation in toa-based indoor localization systems using neural network architecture","volume":"8","author":"Heidari","year":"2009","journal-title":"IEEE Trans. Wirel. Commun."},{"key":"ref_4","unstructured":"Xu, Y., Zhou, M., and Ma, L. (2009, January 6\u20138). WiFi indoor location determination via ANFIS with PCA methods. Proceedings of the 2009 IEEE International Conference on Network Infrastructure and Digital Content, Beijing, China."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"913","DOI":"10.1109\/TMC.2011.84","article-title":"Time-space sampling and mobile device calibration for WiFi indoor location systems","volume":"10","author":"Figuera","year":"2011","journal-title":"IEEE Trans. Mob. Comput."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Corchado, J.M., Rodr\u00edguez, S., Llinas, J., and Molina, J.M. (2009). International Symposium on Distributed Computing and Artificial Intelligence 2008, Springer.","DOI":"10.1007\/978-3-540-85863-8"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Zhuang, Y., Yang, J., Li, Y., Qi, L., and El-Sheimy, N. (2016). Smartphone-based indoor localization with bluetooth low energy beacons. Sensors, 16.","DOI":"10.3390\/s16050596"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Cheng, Y.M. (2009, January 12\u201314). Using ZigBee and Room-Based Location Technology to Constructing an Indoor Location-Based Service Platform. Proceedings of the IEEE 5th International Conference on Intelligent Information Hiding & Multimedia Signal Processing, Kyoto, Japan.","DOI":"10.1109\/IIH-MSP.2009.106"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"58","DOI":"10.1016\/j.procs.2011.07.010","article-title":"ZigBee-based indoor location system by k-nearest neighbor algorithm with weighted RSSI","volume":"5","author":"Huang","year":"2011","journal-title":"Procedia Comput. Sci."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Bao, X., and Wang, G. (2006, January 17\u201319). Random sampling algorithm in RFID indoor location system. Proceedings of the 3rd IEEE International Workshop on Electronic Design, Test and Applications, Kuala Lumpur, Malaysia.","DOI":"10.1109\/DELTA.2006.73"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Zou, T., Lin, S., and Li, S. (2016). Blind RSSD-based indoor localization with confidence calibration and energy control. Sensors, 16.","DOI":"10.3390\/s16060788"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Li, F., Zhao, C., Ding, G., Gong, J., Liu, C., and Zhao, F. (, 2009). A reliable and accurate indoor localization method using phone inertial sensors. Proceedings of the 2012 ACM Conference on Ubiquitous Computing ACM Conference on Ubiquitous Computing, New York, NY, USA.","DOI":"10.1145\/2370216.2370280"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Gusenbauer, D., Isert, C., and Kr\u00f6Sche, J. (2010, January 15\u201317). Self-contained indoor positioning on off-the-shelf mobile devices. Proceedings of the 2010 International Conference on Indoor Positioning and Indoor Navigation, Z\u00fcrich, Switzerland.","DOI":"10.1109\/IPIN.2010.5646681"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Jimenez, A.R., Seco, F., Prieto, J.C., and Guevara, J. (, 2010). Indoor pedestrian navigation using an INS\/EKF framework for yaw drift reduction and a foot-mounted IMU. Proceedings of the 2010 7th Workshop on Positioning Navigation and Communication (WPNC), Dresden, Germany.","DOI":"10.1109\/WPNC.2010.5649300"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Hoflinger, F., Zhang, R., and Reindl, L.M. (2012, January 23\u201327). Indoor-localization system using a Micro-Inertial Measurement Unit (IMU). Proceedings of the European Frequency and Time Forum (EFTF), Gothenburg, Sweden.","DOI":"10.1109\/EFTF.2012.6502421"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"838","DOI":"10.1109\/JSEN.2012.2227593","article-title":"Inertial sensor based indoor localization and monitoring system for emergency responders","volume":"13","author":"Zhang","year":"2013","journal-title":"IEEE Sens. J."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Zhang, R., Hoeflinger, F., Gorgis, O., and Reindl, L.M. (2011, January 9\u201311). Indoor Localization Using Inertial Sensors and Ultrasonic Rangefinder. Proceedings of the 2011 IEEE International Conference on Wireless Communications and Signal Processing (WCSP2011), Nanjing, China.","DOI":"10.1109\/WCSP.2011.6096713"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"10872","DOI":"10.3390\/s150510872","article-title":"Quaternion-based unscented kalman filter for accurate indoor heading estimation using wearable multi-sensor system","volume":"5","author":"Yuan","year":"2015","journal-title":"Sensors"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"178","DOI":"10.1109\/TIM.2011.2159317","article-title":"Accurate pedestrian indoor navigation by tightly coupling foot-mounted IMU and RFID measurements","volume":"61","author":"Ruiz","year":"2012","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_20","unstructured":"Woodman, O.J. (2007). An Introduction to Inertial Navigation, University of Cambridge, Computer Laboratory. Technical Report UCAMCL-TR-696."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1788","DOI":"10.1016\/j.patrec.2006.02.008","article-title":"Applying 3D human model in a posture recognition system","volume":"27","author":"Boulay","year":"2006","journal-title":"Pattern Recognit. Lett."},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Le, T.L., Nguyen, M.Q., and Nguyen, T.T.M. (2013, January 21\u201324). Human posture recognition using human skeleton provided by Kinect. Proceedings of the 2013 IEEE International Conference on Computing, Management and Telecommunications, Ho Chi Minh City, Vietnam.","DOI":"10.1109\/ComManTel.2013.6482417"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"5036857","DOI":"10.1155\/2016\/5036857","article-title":"Autonomous gait event detection with portable single-camera gait kinematics analysis system","volume":"2016","author":"Yang","year":"2016","journal-title":"J. Sens."},{"key":"ref_24","first-page":"1536","article-title":"An active vision system for fall detection and posture recognition in elderly healthcare","volume":"267","author":"Diraco","year":"2010","journal-title":"Am. J. Physiol."},{"key":"ref_25","unstructured":"Gallagher, A., Matsuoka, Y., and Ang, W.T. (October, January 28). An efficient real-time human posture tracking algorithm using low-cost inertial and magnetic sensors. Proceedings of the 2004 IEEE\/RSJ International Conference on Intelligent Robotsand Systems (IROS 2004), Sendai, Japan."},{"key":"ref_26","unstructured":"Jung, P.G., Lim, G., and Kong, K. (2012, January 17\u201321). Human posture measurement in a three-dimensional space based on inertial sensors. Proceedings of the 2012 12th IEEE International Conference on Control, Automation and Systems, Jeju Island, Korea."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Harms, H., Amft, O., and Troster, G. (2008, January 20\u201322). Influence of a loose-fitting sensing garment on posture recognition in rehabilitation. Proceedings of the 2008 IEEE Biomedical Circuits and Systems Conference, Baltimore, MD, USA.","DOI":"10.1109\/BIOCAS.2008.4696947"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s13042-010-0009-5","article-title":"Optimal model selection for posture recognition in home-based healthcare","volume":"2","author":"Zhang","year":"2011","journal-title":"Int. J. Mach. Learn. Cybern."},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Gjoreski, H., Lustrek, M., and Gams, M. (2011, January 25\u201328). Accelerometer Placement for Posture Recognition and Fall Detection. Proceedings of the 2011 Seventh IEEE International Conference on Intelligent Environments, Notingham, UK.","DOI":"10.1109\/IE.2011.11"},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Chen, C., Jafari, R., and Kehtarnavaz, N. (2016). A survey of depth and inertial sensor fusion for human action recognition. Multimed. Tools Appl., 74.","DOI":"10.1109\/ICASSP.2016.7472170"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"39","DOI":"10.1016\/j.adhoc.2012.04.006","article-title":"An integrated system based on wireless sensor networks for patient monitoring, localization and tracking","volume":"11","author":"Redondi","year":"2013","journal-title":"Ad Hoc Netw."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1109\/MPRV.2002.1037719","article-title":"Activity and location recognition using wearable sensors","volume":"1","author":"Lee","year":"2002","journal-title":"IEEE Pervasive Comput."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"1489","DOI":"10.3390\/s110201489","article-title":"Estimating three-dimensional orientation of human body parts by inertial\/magnetic sensing","volume":"11","author":"Maria","year":"2011","journal-title":"Sensors"},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Tayebi, A., Mcgilvray, S., Roberts, A., and Moallem, M. (2007, January 12\u201314). Attitude estimation and stabilization of a rigid body using low-cost sensors. Proceedings of the 2007 46th IEEE Conference on Decision & Control, New Orleans, LA, USA.","DOI":"10.1109\/CDC.2007.4434490"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"1196","DOI":"10.1109\/TRO.2009.2017146","article-title":"Minimum-order kalman filter with vector selector for accurate estimation of human body orientation","volume":"25","author":"Lee","year":"2009","journal-title":"IEEE Trans. Robot."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"1257","DOI":"10.1109\/TASE.2015.2466634","article-title":"Control of Upper-Limb Power-Assist Exoskeleton Using a Human-Robot Interface Based on Motion Intention Recognition","volume":"12","author":"Huang","year":"2015","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"295","DOI":"10.1109\/TNSRE.2004.827825","article-title":"Real-time articulated human motion tracking using tri-axis inertial\/magnetic sensors package","volume":"12","author":"Zhu","year":"2004","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Liu, T., Inoue, Y., and Shibata, K. (2011, January 28\u201331). Simplified Kalman filter for a wireless inertial-magnetic motion sensor. Proceedings of the 2011 IEEE Sensors, Limerick, Ireland.","DOI":"10.1109\/ICSENS.2011.6127397"},{"key":"ref_39","unstructured":"Mathie, M. (2003). Monitoring and Interpreting Human Movement Patterns Using a Triaxial Accelerometer, The University of New South Wales."},{"key":"ref_40","doi-asserted-by":"crossref","unstructured":"Wang, Y., Huang, J., and Wang, Y. (2015). Wearable sensor-based indoor localisation system considering incomplete observations. Int. J. Model. Identif. Control, 24.","DOI":"10.1504\/IJMIC.2015.072980"},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"1179","DOI":"10.1109\/TAC.2002.800668","article-title":"Robust Kalman filtering for discrete time-varying uncertain systems with multiplicative noises","volume":"47","author":"Yang","year":"2002","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1002\/acs.4480080105","article-title":"Unifying the landmark developments in optimal bounding ellipsoid identification","volume":"8","author":"Deller","year":"1994","journal-title":"Int. J. Adapt. Control Signal Process."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1109\/TAC.1968.1098790","article-title":"Recursive state estimation: Unknown but bounded errors and system inputs","volume":"13","author":"Schweppe","year":"1968","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_44","first-page":"729","article-title":"Optimal guaranteed estimates of indeterminacies with the aid of ellipsoids. I","volume":"18","author":"Chernousko","year":"1980","journal-title":"Eng. Cybern."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"2928","DOI":"10.1109\/78.796429","article-title":"BEACON: An adaptive set-membership filtering technique with sparse updates","volume":"47","author":"Nagaraj","year":"1999","journal-title":"IEEE Trans. Signal Process."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/11\/1825\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,14]],"date-time":"2025-01-14T16:45:39Z","timestamp":1736873139000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/16\/11\/1825"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,10,31]]},"references-count":45,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2016,11]]}},"alternative-id":["s16111825"],"URL":"https:\/\/doi.org\/10.3390\/s16111825","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2016,10,31]]}}}