Browsing by Author "Hsieh, Shih-Ho"

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A Novel Magnetic Dipoles Localization and Mapping Algorithm using Magnetometer Array
(2019-01-01)
Hsieh, Shih-Ho
;
Lo, Sheng-Wen
;
Hu, Jwu-Sheng
;
Chang, Jen-Yuan
;
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This study is about localization and mapping with magnetic landmarks. It aims to find a linear solution to estimate the magnetic dipoles' position and orientation with several magnetometers. With the poses of the magnetic dipoles, localization and mapping can be done. Due to the linear solution, avoiding heavy computation load and a long time to compute is possible. In order to differentiate the magnets from each other, we suppose that the magnetic field is modulated in advance and can be demodulated afterwards. The simulation result shows the effectiveness of the proposed algorithm.
A Tri-Dipole based Location and Orientation Estimation Method in Near Magnetic Field
(2018-01-01)
Lo, Sheng-Wen
;
Sun, Kuan-Chun
;
Hsieh, Shih-Ho
;
Hu, Jwu-Sheng
;
Chang, Jen-Yuan
This paper aims to find an accurate, robust, novel location and orientation estimation method related to a landmark consist of three orthogonal electromagnets modulated with different frequencies. The solution uniqueness is explained in this paper with the fact that near magnetic field has more distinguishable features. The proposed method demodulate the signals from the landmark and analyze independent magnetic field from three electromagnets basing on magnetic dipole model. Extended Kalman filter is applied to solve the higher order nonlinear problems. The simulation and experiment result show the effectiveness of the proposed algorithm.