A Novel Magnetic Dipoles Localization and Mapping Algorithm using Magnetometer Array

Abstract

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.