Position tracking using inertial and magnetic sensing aided by permanent magnet

Abstract

Abstract-This paper describes a method for spatial tracking of a strapdown device that can be used for design of humancomputer interfaces. Inertial Measurement Unit (IMU) is used to obtain 6-dof position exploiting the so-called ZUPT technique by the means of the Kalman Filter. Additional corrections of position are done using magnetometer readings in the presence of static magnetic field induced by permanent magnet that overshadow geomagnetic field. This correction allows us to overcome drifting errors of integration of IMU readings. We have also presented comparisons of different models for magnetic field reconstruction that is crucial for this system.

The effects of movement speeds and magnetic disturbance on inertial measurement unit accuracy

“…These include (Chang et al 2008) aim to increase the measurement timeframe that IMUs can be used in magnetically-disturbed environments before the errors accumulate. IMU measurements have also been used in conjunction with other reference devices, such as a localized magnetic coil (D. Roetenberg, Slycke, and Veltink 2007;Tadayon et al 2016), permanent magnets (Meina, Rykaczewski, and Rutkowski 2016), potentiometers (Plamondon et al 2007;Taunyazov, Omarali, and Shintemirov 2016), e-textiles (Tognetti et al 2015), GPS (Matthew Brodie, Walmsley, and Page 2008), ultra-wideband positioning systems (Zihajehzadeh et al 2015;Kok, Hol, and Schön 2015;Yoon et al 2017), body-mounted cameras (e.g. visual odometry) (Oskiper et al 2007;Vignais et al 2013;Shiratori et al 2011), and OMCs (Bó, Hayashibe, and Poignet 2011;Yushuang Tian et al 2015;Won, Melek, and Golnaraghi 2010).…”