Browsing by Author "Lo, Sheng-Wen"

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A Novel Magnetic Dipoles Localization and Mapping Algorithm using Magnetometer Array
(2019-01-01)
Hsieh, Shih-Ho
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Lo, Sheng-Wen
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Hu, Jwu-Sheng
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Chang, Jen-Yuan
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交大名義發表
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 Single Dipole-based Localization Method in Near Magnetic Field using IMU Array
(2016)
Sun, Kuan-Chun
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Lo, Sheng-Wen
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Hu, Jwu-Sheng
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交大名義發表
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National Chiao Tung University
This study aims to find an efficient 3D localization method related to a single dipole landmark in near magnetic field using IMU (Inertial Measurement Unit) array. We derive a novel algorithm that can avoid dealing with high order nonlinearity and singularity of distance in denominator in a mathematical dipole model by using a designed structure array to approach the gradient tensor. Moreover, we apply a state constrained Kalman filter for solving an underdetermined problem and estimating the rotation matrix between sensor and landmark simultaneously. The simulation analysis and experiment result show the effectiveness of the proposed algorithm in estimating the 3D position from a single dipole magnetic landmark.
A Tri-Dipole based Location and Orientation Estimation Method in Near Magnetic Field
(2018-01-01)
Lo, Sheng-Wen
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Sun, Kuan-Chun
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Hsieh, Shih-Ho
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Hu, Jwu-Sheng
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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.
An Novel Landmark-based Localization Method in Mobile Platform using Magnetic Dipole
(2016-01-01)
Sun, Kuan-Chun
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Lo, Sheng-Wen
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電控工程研究所
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Institute of Electrical and Control Engineering
This study aims to find a low-cost, robust, novel localization method related to a single magnetic landmark using 9D MARG sensors (Magnetic, Angular Rate, and Gravity). We derived an algorithm that can accumulated the space magnetic information during a time period to construct the flux distribution near the landmark. This helps to locate the coordinate of the moving object with respect to the landmark. The Extended Kalman is used for solving the problem and reducing the noise effect. The simulation analysis and experiment result show the effectiveness of the proposed algorithm in estimating the localization from the magnetic landmark.