Research on High Precision Positioning Method for Pedestrians in Indoor Complex Environments Based on UWB/IMU

Round 1

Reviewer 1 Report

In this research High-Precision Localization and Navigation method of Pedestrians in indoor complex NLOS environment investigated and the positioning accuracy is improved by 76.8% and 40.6% compared with EKF and ARKF algorithms, respectively. My comments are as follows:

-Abbreviation of NLOS, UWB,… need expand in abstract.

- Possible future studies to be added.

-The advantages and disadvantages of the proposed methods should be added to the discussions.

- Add data set table and observation time

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Author Response

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Reviewer 2 Report

This work mainly deals with the NLOS issue that is always detrimental to UWB-based indoor positioning. The novelty of this work is to differential the NLOS effects into two categories: the one refers to the invariant environment and the other is related to the obstruction of human body. Generally speaking, this work is interesting as the method is sound and the experimental results are convincing. I only figure out a number of minor issues that need to be further addressed by the authors.

First of all, the whole article is a little bit lengthy. Some parts can be removed, for instance sect. 3.3 or at least be largely simplified.

Second, some figures are so similar to one another. It would be more sensible to present those most representative ones.

 

Third, now that figure 12 has shown the diagram of the algorithm proposed, it might be unnecessary to also give the pseudo code of this algorithm in Table 1.

Author Response

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Reviewer 3 Report

The manuscript is well prepared. Proposed methods are introduced with details and supported by experiment results. In general, this is a good paper.

However, there are some weak points that may be improved:

- The title is not so clear and the way to introduce the work is somehow misleading. NLOS generally refers to radio- or vision-based conditions. In this work, UWB is radio so it's just fine. But for IMU, this is not relevant. So I suggest not to include NLOS in the title, but precise the employed technologies (UWB, IMU) instead.

- It would be better if the results are compared with other works.

Author Response

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Reviewer 4 Report

This manuscript presented a  Localization and Navigation method for Pedestrians in an indoor complex NLOS environment.

I have several comments as follows,

- The contribution needs to be concise (lines 87-102)

- Explain more detail as possible in the caption of each figure.

- Mathematics format does not look good; please consider the MathType tool

- Equations and comments need to be cited

- In section 3, an overall structure of the proposed method needs to be provided that helps the reader imagine better.

- In section 6, the experimental results showed bad results for EKF and others. Please provide detail of the conducting result, model, and noise. I believe the noise model was not turned well enough.

 

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Author Response

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Round 2

Reviewer 1 Report

It is acceptable in this form.

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Author Response

Once again, we want to extend our heartfelt appreciation for your time, effort, and expertise in reviewing our work. Your commitment to ensuring the rigor and excellence of scientific research is truly commendable. We are honored to have had the opportunity to benefit from your invaluable feedback.

Reviewer 4 Report

Thank you for your efforts,

I have only minor comments on Fig.12, and please consider the time stamp of UWB and IMU are different, then fix the algorithm with the information.

Bests, 

 

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Author Response

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Author Response File: Author Response.pdf