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 |
Appears in Collections: | Conferences Paper |