The Impact of Height on Indoor Positioning With Magnetic Fields

Hanley, David; Oliveira, Augusto S. Dantas de; Zhang, Xiangyuan; Kim, Dae Hyun; Yu-sheng, Wei

doi:10.1109/tim.2021.3059317

Cited by 12 publications

(20 citation statements)

References 61 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The magnetic field of the indoor workspace had much more spatial variation than the magnetic field outside. The indoor field also changed noticeably as a function of altitude, a trend that was recently analyzed in [ 25 ]. In the next section, we show how high-resolution GPR-based magnetic field maps can be used for attitude estimation in regions with spatially varying magnetic fields.…”

Section: Resultsmentioning

confidence: 73%

“…The goal is to perform full 6DOF position and attitude estimation using GPR-based magnetic field maps [ 12 ]. This would require an analysis of multiple indoor spaces as in [ 4 , 25 ], which is currently difficult due to our dependence on motion capture cameras to construct our maps. Previous works have found success with using LiDAR or visual–inertial odometry to construct magnetic field maps without motion capture [ 12 , 15 , 16 , 20 , 25 ].…”

Section: Discussionmentioning

confidence: 99%

“…Additionally, creating magnetic field maps of large volumes can be computationally expensive [ 16 ] if the user is not careful in modeling the magnetic field [ 24 ]. Despite this, several previous publications have leveraged the magnetic field of indoor spaces to improve position and attitude estimates for mobile robots such as [ 17 , 19 ] with one dimension of translation, [ 13 , 14 , 15 , 18 , 20 , 25 ] in planar motion and [ 12 , 16 ] for three dimensions of translation. These works showed that with a magnetic field map of a workspace, it is possible to localize the position of a robot within the given magnetic field map.…”

Section: Related Workmentioning

confidence: 99%

“…To our knowledge, there is not yet a consistent method of defining spatial variation in the magnetic field. Reference [ 4 ] quantified the change in the magnetic field norm; Reference [ 18 ] discussed changes in each component of the magnetic field; Reference [ 25 ] used the mean and standard deviation of the change in the magnetic field norm as position changes. By contrast, Vallivaara et al discussed spatial variation in a binary sense, by assessing if there was sufficient variation to localize or perform SLAM, which can depend on the parameters in the estimation algorithm [ 13 , 14 ].…”

Section: Related Workmentioning

confidence: 99%

“…Some performed simultaneous localization and mapping (SLAM) and were able to construct a magnetic field map as they estimated the pose of their vehicle [ 12 , 13 , 14 ]. Others first had their robot traverse the workspace to learn the magnetic field and construct a map, then utilized this map in a separate trial to perform state estimation or localization [ 15 , 16 , 17 , 18 , 19 , 20 , 25 ]. Our work adopted the philosophy of the latter group by performing a set of training test flights to construct a magnetic field map followed by a separate set of utilization flights meant to assess the accuracy of our attitude estimates by leveraging an existing map.…”

Section: Related Workmentioning

confidence: 99%

See 4 more Smart Citations

Improving Attitude Estimation Using Gaussian-Process-Regression-Based Magnetic Field Maps

Kuevor

Cutler

Atkins

2021

Sensors

View full text Add to dashboard Cite

Magnetometers measure the local magnetic field and are present in most modern inertial measurement units (IMUs). Readings from magnetometers are used to identify Earth’s Magnetic North outdoors, but are often ignored during indoor experiments since the magnetic field does not behave how most expect. This paper presents methods to create, validate, and visualize three-dimensional magnetic field maps to expand the use of magnetic fields as a sensing modality for navigation. The utility of these maps is measured in their ability to accurately represent the magnetic field and to enable dynamic attitude estimation. In experiments with motion capture truth data, a small multicopter with three-axis inertial measurements, including magnetometer, traversed five flight profiles distinctly exciting roll, pitch, and yaw motion to provide interesting trajectories for attitude estimation. Indoor experimental results were compared to those outdoors to emphasize how spatial variation in the magnetic field drives the need for our mapping techniques. Our work presents a new way of visualizing 3D magnetic fields, which allows users to better reason about the magnetic field in their workspace. Next, we show that magnetic field maps generated from coverage patterns are generally more accurate, but training such maps using observations from desired flight paths is sufficient in the vicinity of these paths. All training sets were interpolated using Gaussian process regression (GPR), which yielded maps with <1 μT of error when interpolating between and extrapolating outside of observed locations. Finally, we validated the utility of our GPR-based maps in enabling attitude estimates in regions of high magnetic field spatial variation with experimental data.

show abstract

Section: Resultsmentioning

confidence: 73%

Section: Discussionmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

See 3 more Smart Citations

Improving Attitude Estimation Using Gaussian-Process-Regression-Based Magnetic Field Maps

Kuevor

Cutler

Atkins

2021

Sensors

View full text Add to dashboard Cite

show abstract

Novel Integration of Wi-Fi Signal and Magnetometer Sensor Measurements in Fingerprinting Technique for Indoors Smartphone positioning

2022

View full text Add to dashboard Cite

Smartphones are becoming more widespread, and location-based services (LBS) have become one of the most important uses in people’s daily lives. While outdoor location is reasonably simple thanks to GNSS signals, however, indoor location is more problematic due to the lack of GNSS signals. As a result of the widespread deployment of alternative technologies such as wireless and sensors technologies, various studies on wireless-based indoor positioning have been conducted. However, each technology has its own limitations including multipath fading of wireless signals causes time-varying received signal strength as well as the accumulated error of the onboard sensors (i.e. sensor drift) resulting in poor localization accuracy. Motivated by these restrictions, this work integrates the applicability of two technologies for indoor positioning that are already available in smartphones by avoiding their limitation. The integration is based on fingerprinting-positioning technique by including magnetometer sensor measurements and WiFi signal strength. Android-based smartphones with low-cost sensors in real indoor scenarios are utilized to create a dataset and collect independent track tests to confirm results. The performance of different scenarios, such as Wi-Fi alone, magnetometer alone, and magnetometer-aided Wi-Fi, is compared. The experimental results show that the combination of magnetometer sensor and WiFi signal strength provides significant results in which leads to reducing the location error to 0.7224 meters.

show abstract

A Study of the Accuracy of the Software Site Survey to Find the Appropriate Location to Install the Access Point for Indoor Positioning

Srikamta

Namee

Chatngoen

et al. 2022

2022 20th International Conference on ICT and Knowledge Engineering (ICT&KE)

View full text Add to dashboard Cite

The Impact of Height on Indoor Positioning With Magnetic Fields

Cited by 12 publications

References 61 publications

Improving Attitude Estimation Using Gaussian-Process-Regression-Based Magnetic Field Maps

Improving Attitude Estimation Using Gaussian-Process-Regression-Based Magnetic Field Maps

Novel Integration of Wi-Fi Signal and Magnetometer Sensor Measurements in Fingerprinting Technique for Indoors Smartphone positioning

A Study of the Accuracy of the Software Site Survey to Find the Appropriate Location to Install the Access Point for Indoor Positioning

Contact Info

Product

Resources

About