5G IoT Doppler-frequency estimation Fireworks Algorithm GNSS Grey Wolf Optimizer History of engineering & technology Internet of Things Kalman filter LoRa LoRaWAN MIMU Poisson multi-Bernoulli mixture TDoA Takagi–Sugeno Wi-Fi camera automatic fare collection system automotive LFMCW radar block-level once sliding detection window calibration car-following classification clustering compass continuous-time model cooperative approach data fusion decision-making deep learning ensemble learning exploitation and exploration