標題: A Single Dipole-based Localization Method in Near Magnetic Field using IMU Array
作者: Sun, Kuan-Chun
Lo, Sheng-Wen
Hu, Jwu-Sheng
交大名義發表
National Chiao Tung University
公開日期: 2016
摘要: 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.
URI: http://hdl.handle.net/11536/134537
ISBN: 978-1-5090-4077-3
ISSN: 2162-7568
期刊: 2016 IEEE WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO)
起始頁: 152
結束頁: 157
顯示於類別:會議論文