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2013 IEEE International Conference on Acoustics, Speech and Signal Processing

DOI: 10.1109/icassp.2013.6638911

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MEMS-based inertial navigation based on a magnetic field map

Proceedings article published in 2013 by Manon Kok, Niklas Wahlström, Thomas B. Schön ORCID, Fredrik Gustafsson
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This paper is available in a repository.

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Abstract

This paper presents an approach for 6D pose estimation where MEMS inertial measurements are complemented with magnetometer measurements assuming that a model (map) of the magnetic field is known. The resulting estimation problem is solved using a Rao-Blackwellized particle filter. In our experimental study the magnetic field is generated by a magnetic coil giving rise to a magnetic field that we can model using analytical expressions. The experimental results show that accurate position estimates can be obtained in the vicinity of the coil, where the magnetic field is strong.