A Single Dipole-based Localization Method in Near Magnetic Field using IMU Array

Abstract

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.