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Accurate 3D Positioning for a Mobile Platform in Non-Line-of-Sight Scenarios Based on IMU/Magnetometer Sensor Fusion.
Hendrik Hellmers1, Zakaria Kasmi2, Abdelmoumen Norrdine3
1Institut für Geodäsie, Technische Universität Darmstadt, FG Geodätische Messsysteme und Sensorik, Franziska-Braun-Straße 7, 64287 Darmstadt, Germany. hen.hellmers@gmx.de.
Sensors (Basel, Switzerland)
|January 5, 2018
Summary
This study introduces a novel indoor positioning system using artificial magnetic fields and Inertial Measurement Units (IMUs). This magnetic field-based approach overcomes limitations of other technologies in Non-Line of Sight (NLoS) scenarios for reliable indoor navigation.
Area of Science:
- Robotics
- Sensor Technology
- Navigation Systems
Background:
- Global Navigation Satellite System (GNSS) is ineffective for indoor positioning.
- Existing indoor technologies like Ultra Wide Band (UWB) and Wireless Local Area Network (WLAN) suffer from signal degradation due to multipath and fading.
- Magnetic fields offer a robust alternative for indoor localization as they penetrate obstacles.
Purpose of the Study:
- To propose and evaluate a novel indoor positioning system utilizing artificially generated magnetic fields.
- To enhance indoor navigation capabilities by overcoming limitations of existing technologies in Non-Line of Sight (NLoS) environments.
- To integrate Inertial Measurement Units (IMUs) for improved accuracy and a comprehensive 3D positioning solution.
Main Methods:
- Development of an indoor positioning system employing multiple magnetic field-generating coils as reference points.
- Implementation of a 3D positioning algorithm.
- Sensor fusion utilizing a kinematic motion model and a Kalman filter.
- Integration of a pressure sensor with adaptive filtering for accurate altitude estimation.
Main Results:
- Demonstration and evaluation of a basic 3D positioning algorithm.
- Successful realization of the system through sensor fusion and a Kalman filter-based kinematic motion model.
- Reliable estimation of platform altitude using a pressure sensor and adaptive filtering.
Conclusions:
- The proposed magnetic field-based indoor positioning system effectively addresses NLoS challenges.
- The integration of IMUs and advanced filtering techniques provides accurate 3D positioning and altitude estimation.
- This novel system offers a promising solution for real-time indoor navigation applications.
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