標題: An Novel Landmark-based Localization Method in Mobile Platform using Magnetic Dipole
作者: Sun, Kuan-Chun
Lo, Sheng-Wen
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Localization;MARG sensor;Kalman filter
公開日期: 1-一月-2016
摘要: 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.
URI: http://hdl.handle.net/11536/146584
ISSN: 2374-3255
期刊: 2016 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND INTELLIGENT SYSTEMS (ARIS)
顯示於類別:會議論文