An Novel Landmark-based Localization Method in Mobile Platform using Magnetic Dipole

Abstract

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.