MEMS-based inertial navigation based on a magnetic field map
2013 (English)In: Proceedings of the 38th International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 2013, 6466-6470 p.Conference paper (Refereed)
This paper presents an approach for 6D pose estimation where MEMS inertial measurements are complemented with magnetometer measurements assuming that a model (map) of the magnetic field is known. The resulting estimation problem is solved using a Rao-Blackwellized particle filter. In our experimental study the magnetic field is generated by a magnetic coil giving rise to a magnetic field that we can model using analytical expressions. The experimental results show that accurate position estimates can be obtained in the vicinity of the coil, where the magnetic field is strong.
Place, publisher, year, edition, pages
2013. 6466-6470 p.
Magnetic field, inertial navigation, state estimation, Rao-Blackwellized particle filter, magnetometer
Control Engineering Signal Processing
IdentifiersURN: urn:nbn:se:liu:diva-102632DOI: 10.1109/ICASSP.2013.6638911ISI: 000329611506126OAI: oai:DiVA.org:liu-102632DiVA: diva2:680123
The 38th International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Vancouver, Canada, May 26-31, 2013
FunderEU, FP7, Seventh Framework Programme, 1933031801Swedish Research Council, 1933011102