A robust indoor positioning system based on encoded magnetic field and low-cost IMU

Wu, Falin; Liang, Yuan; Fu, Yong; Ji, Xinchun

doi:10.1109/plans.2016.7479703

Cited by 12 publications

(9 citation statements)

References 14 publications

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“…Table 2 lists the mean absolute error (MAE) and standard deviation (Std) of the positioning estimation in the three environments with the parameters abstracted from their own data for the fitting Equation ( 2 ). The result is competitive among similar magnetic field-based positioning work, like in [ 40 ], where the positioning errors will accumulate to meter-level while fused with IMU; in [ 41 ], where the average error is 0.3 m in an office environment; and in [ 42 ], where the mean localization error is 0.8 m in 3D and 0.4 m in 2D.…”

Section: Discussionmentioning

confidence: 99%

Induced Magnetic Field-Based Indoor Positioning System for Underwater Environments

Bian

Hevesi

Christensen

et al. 2021

Sensors

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Autonomous underwater vehicles (AUV) are seen as an emerging technology for maritime exploration but are still restricted by the availability of short range, accurate positioning methods necessary, e.g., when docking remote assets. Typical techniques used for high-accuracy positioning in indoor use case scenarios, such as systems using ultra-wide band radio signals (UWB), cannot be applied for underwater positioning because of the quick absorption of the positioning medium caused by the water. Acoustic and optic solutions for underwater positioning also face known problems, such as the multi-path effects, high propagation delay (acoustics), and environmental dependency. This paper presents an oscillating magnetic field-based indoor and underwater positioning system. Unlike those radio wave-based positioning modalities, the magnetic approach generates a bubble-formed magnetic field that will not be deformed by the environmental variation because of the very similar permeability of water and air. The proposed system achieves an underwater positioning mean accuracy of 13.3 cm in 2D and 19.0 cm in 3D with the multi-lateration positioning method and concludes the potential of the magnetic field-based positioning technique for underwater applications. A similar accuracy was also achieved for various indoor environments that were used to test the influence of cluttered environment and of cross environment. The low cost and power consumption system is scalable for extensive coverage area and could plug-and-play without pre-calibration.

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Section: Discussionmentioning

confidence: 99%

Induced Magnetic Field-Based Indoor Positioning System for Underwater Environments

Bian

Hevesi

Christensen

et al. 2021

Sensors

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“…Схемы модуляции различаются в зависимости от конфигурации генерируемого магнитного поля. При использовании переменного магнитного поля используется временно́е или частотное разделение [34][35][36]. Каждая опорная станция генерирует магнитное поле при временном разделении в отведенный ей временной интервал, при частотном -в своем частотном диапазоне.…”

Section: магнитометрия акустические и инерциальные технологии локальunclassified

“…Для позиционирования в зданиях с железобетонными конструкциями наиболее применимы импульсные магнитные поля. Здесь для передачи данных используется импульсная схема модуляции, согласно которой генерируется последовательность импульсных магнитных полей различной ориентации [35,36], что достигается изменением направления тока, поступающего на катушку индуктивности якоря. Каждая такая последовательность отделяется паузой, при которой все генераторы магнитного поля выключаются.…”

Section: магнитометрия акустические и инерциальные технологии локальunclassified

“…Для позиционирования в трехмерном пространстве некоторые системы включают в свой состав барометр, за счет которого можно определять высоту объекта слежения. Система [36] использует микросхему ADIS 16480, содержащую такие цифровые датчики, как акселерометр, гироскоп, барометр, магнетометр, датчик температуры и пр. Технические характеристики датчиков микросхемы приводятся в документации на микросхему.…”

Section: магнитометрия акустические и инерциальные технологии локальunclassified

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Magnetometry, Acoustical and Inertial Indoor-Positioning in Healthcare

Cherepanova

Pospelova

Брагин

et al. 2020

Izv. vysš. učebn. zaved. Ross., Radioèlektron.

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Introduction. The problem of localization of moving objects inside buildings becomes more urgent in healthcare. Tracking the movements of patients in real time allows one to provide them with timely medical support in case of sharp deterioration in their vital signs. It is especially important to track the location of patients undergoing a surgery, since the risk of death due to postoperative complications for them is extremely high. Using indoor-positioning technologies in telemedicine systems can solve the problem, thereby reducing the mortality rate of patients and improving the quality of medical care.Aim. To study the applicability of magnetometry, inertial and acoustic technologies for patient’s localization in a hospital.Materials and methods. The analysis of domestic and foreign scientific sources devoted to indoor-positioning based on the above technologies was carried out. Material published not earlier than 2016, was chosen for the analysis. Most of the papers were published in journals with impact-factor not lower than 3.Results. After analyzing the information received, it was concluded that none of the technologies can be used independently. Inertial sensors possess high accuracy, but over time, the measurement error increases. There-fore, the sensors need to regular correction. Indoor-positioning based on geomagnetism is hampered by interference that can be induced by the operation of magnetic resonance imaging scanners and X-ray equipment, which are usually used in medical facilities. Active magnetometry does not allow to keep track of moving objects due to specific of hardware used. Ultrasound-based positioning can be complicated by ultrasonography apparatuses interference. Using an audible sound creates noise pollution and exerts a negative impact on patient’s health. Also, acoustic technologies are unable to provide a secure communication channel for data exchange.Conclusion. It is recommended to combine the reviewed positioning technologies with other technologies in order to correct the indicated disadvantages.

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“…Therefore, it is considered that rich information lies in these disturbances. Nevertheless, most of the magnetic field-based techniques require either a prior mapping [ 18 ], or extra equipment, as with magnetic beacons [ 19 ]. Besides, the main goal of most of these works is usually trajectory/position reconstruction and not velocity estimation.…”

Section: Introductionmentioning

confidence: 99%

Magnetic Field Gradient-Based EKF for Velocity Estimation in Indoor Navigation

Zmitri

Fourati

Prieur

2020

Sensors

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This paper proposes an advanced solution to improve the inertial velocity estimation of a rigid body, for indoor navigation, through implementing a magnetic field gradient-based Extended Kalman Filter (EKF). The proposed estimation scheme considers a set of data from a triad of inertial sensors (accelerometer and gyroscope), as well as a determined arrangement of magnetometers array. The inputs for the estimation scheme are the spatial derivatives of the magnetic field, from the magnetometers array, and the attitude, from the inertial sensors. As shown in the literature, there is a strong relation between the velocity and the measured magnetic field gradient. However, the latter usually suffers from high noises. Then, the novelty of the proposed EKF is to develop a specific equation to describe the dynamics of the magnetic field gradient. This contribution helps to filter, first, the magnetic field and its gradient and second, to better estimate the inertial velocity. Some numerical simulations that are based on an open source database show the targeted improvements. At the end of the paper, this approach is extended to position estimation in the case of a foot-mounted application and the results are very promising.

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A robust indoor positioning system based on encoded magnetic field and low-cost IMU

Cited by 12 publications

References 14 publications

Induced Magnetic Field-Based Indoor Positioning System for Underwater Environments

Induced Magnetic Field-Based Indoor Positioning System for Underwater Environments

Magnetometry, Acoustical and Inertial Indoor-Positioning in Healthcare

Magnetic Field Gradient-Based EKF for Velocity Estimation in Indoor Navigation

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