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MAINS :
MAINS : A Magnetic-Field-Aided Inertial Navigation System for Indoor Positioning
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- Huang, Chuan (author)
- Linköping Univ, Dept Elect Engn, S-58183 Linköping, Sweden.
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- Hendeby, Gustaf (author)
- Linköping Univ, Dept Elect Engn, S-58183 Linköping, Sweden.
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- Fourati, Hassen (author)
- Univ Grenoble Alpes, CNRS, INRIA, Grenoble INP,GIPSA Lab, F-38000 Grenoble, France.
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- Prieur, Christophe (author)
- Univ Grenoble Alpes, CNRS, INRIA, Grenoble INP,GIPSA Lab, F-38000 Grenoble, France.
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- Skog, Isaac, 1981- (author)
- Uppsala universitet,Signaler och system,Linköping Univ, Dept Elect Engn, S-58183 Linköping, Sweden; Swedish Def Res Agcy FOI, Div Underwater Technol, S-16440 Kista, Sweden
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Linköping Univ, Dept Elect Engn, S-58183 Linköping, Sweden Univ Grenoble Alpes, CNRS, INRIA, Grenoble INP,GIPSA Lab, F-38000 Grenoble, France. (creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2024
- 2024
- English.
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In: IEEE Sensors Journal. - : Institute of Electrical and Electronics Engineers (IEEE). - 1530-437X .- 1558-1748. ; 24:9, s. 15156-15166
- Related links:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Subject headings
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- A magnetic-field-aided inertial navigation system (MAINS) for indoor navigation is proposed in this article. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the displacement and orientation changes of the system, thereby aiding the inertial navigation system (INS). Experiments show that MAINS significantly outperforms the stand-alone INS, demonstrating the remarkable two orders of magnitude reduction in position error. Furthermore, when compared with the state-of-the-art magnetic-field-aided navigation approach, the proposed method exhibits slightly improved horizontal position accuracy. On the other hand, it has noticeably larger vertical error on datasets with large magnetic-field variations. However, one of the main advantages of MAINS compared with the state of the art is that it enables flexible sensor configurations. The experimental results show that the position error after 2 min of navigation in most cases is less than 3 m when using an array of 30 magnetometers. Thus, the proposed navigation solution has the potential to solve one of the key challenges faced with current magnetic-field simultaneous localization and mapping (SLAM) solutions-the very limited allowable length of the exploration phase during which unvisited areas are mapped.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Keyword
- Magnetometers
- Magnetic field measurement
- Navigation
- Inertial navigation
- Mathematical models
- Magnetic separation
- Magnetic sensors
- Aided navigation
- error-state Kalman filter (ESKF)
- indoor positioning
- magnetic field
Publication and Content Type
- ref (subject category)
- art (subject category)
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