MEMS-BASED INERTIAL NAVIGATION BASED ON A MAGNETIC FIELD MAP

被引：0

作者：

Kok, Manon ^{[1
]}

Wahlstrom, Niklas ^{[1
]}

Schon, Thomas B. ^{[1
]}

Gustafsson, Fredrik ^{[1
]}

机构：

[1] Linkoping Univ, Div Automat Control, Linkoping, Sweden

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH AND SIGNAL PROCESSING (ICASSP) | 2013年

关键词：

Magnetic field; inertial navigation; state estimation; Rao-Blackwellized particle filter; magnetometer;

D O I：

暂无

中图分类号：

O42 [声学];

学科分类号：

070206 ; 082403 ;

摘要：

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.

引用

页码：6466 / 6470

页数：5

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