Hellmers, Hendrik ; Kasmi, Zakaria ; Norrdine, Abdelmoumen ; Eichhorn, Andreas (2023)
Accurate 3D Positioning for a Mobile Platform in Non-Line-of-Sight Scenarios Based on IMU/Magnetometer Sensor Fusion.
In: Sensors, 2018, 18 (1)
doi: 10.26083/tuprints-00016370
Artikel, Zweitveröffentlichung, Verlagsversion
 | Es ist eine neuere Version dieses Eintrags verfügbar. |
Kurzbeschreibung (Abstract)
In recent years, a variety of real-time applications benefit from services provided by localization systems due to the advent of sensing and communication technologies. Since the Global Navigation Satellite System (GNSS) enables localization only outside buildings, applications for indoor positioning and navigation use alternative technologies. Ultra Wide Band Signals (UWB), Wireless Local Area Network (WLAN), ultrasonic or infrared are common examples. However, these technologies suffer from fading and multipath effects caused by objects and materials in the building. In contrast, magnetic fields are able to pass through obstacles without significant propagation errors, i.e. in Non-Line of Sight Scenarios (NLoS). The aim of this work is to propose a novel indoor positioning system based on artificially generated magnetic fields in combination with Inertial Measurement Units (IMUs). In order to reach a better coverage, multiple coils are used as reference points. A basic algorithm for three-dimensional applications is demonstrated as well as evaluated in this article. The established system is then realized by a sensor fusion principle as well as a kinematic motion model on the basis of a Kalman filter. Furthermore, a pressure sensor is used in combination with an adaptive filtering method to reliably estimate the platform’s altitude.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2023 |
| Autor(en): | Hellmers, Hendrik ; Kasmi, Zakaria ; Norrdine, Abdelmoumen ; Eichhorn, Andreas |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Accurate 3D Positioning for a Mobile Platform in Non-Line-of-Sight Scenarios Based on IMU/Magnetometer Sensor Fusion |
| Sprache: | Englisch |
| Publikationsjahr: | 21 November 2023 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 2018 |
| Ort der Erstveröffentlichung: | Basel |
| Verlag: | MDPI |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Sensors |
| Jahrgang/Volume einer Zeitschrift: | 18 |
| (Heft-)Nummer: | 1 |
| Kollation: | 19 Seiten |
| DOI: | 10.26083/tuprints-00016370 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/16370 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichung DeepGreen |
| Kurzbeschreibung (Abstract): | In recent years, a variety of real-time applications benefit from services provided by localization systems due to the advent of sensing and communication technologies. Since the Global Navigation Satellite System (GNSS) enables localization only outside buildings, applications for indoor positioning and navigation use alternative technologies. Ultra Wide Band Signals (UWB), Wireless Local Area Network (WLAN), ultrasonic or infrared are common examples. However, these technologies suffer from fading and multipath effects caused by objects and materials in the building. In contrast, magnetic fields are able to pass through obstacles without significant propagation errors, i.e. in Non-Line of Sight Scenarios (NLoS). The aim of this work is to propose a novel indoor positioning system based on artificially generated magnetic fields in combination with Inertial Measurement Units (IMUs). In order to reach a better coverage, multiple coils are used as reference points. A basic algorithm for three-dimensional applications is demonstrated as well as evaluated in this article. The established system is then realized by a sensor fusion principle as well as a kinematic motion model on the basis of a Kalman filter. Furthermore, a pressure sensor is used in combination with an adaptive filtering method to reliably estimate the platform’s altitude. |
| Freie Schlagworte: | mobile platform, robotic, indoor positioning, magnetic field, Kalman filter, magnetometer, pressure sensor, barometer, MILPS |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-163704 |
| Zusätzliche Informationen: | This article belongs to the Special Issue Sensors and Sensing in Indoor Localization, Tracking, Navigation and Activity Monitoring |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 624 Ingenieurbau und Umwelttechnik |
| Fachbereich(e)/-gebiet(e): | 13 Fachbereich Bau- und Umweltingenieurwissenschaften 13 Fachbereich Bau- und Umweltingenieurwissenschaften > Institut für Geodäsie 13 Fachbereich Bau- und Umweltingenieurwissenschaften > Institut für Geodäsie > Geodetic Measuring Systems and Sensor Technology 13 Fachbereich Bau- und Umweltingenieurwissenschaften > Institut für Baubetrieb |
| Hinterlegungsdatum: | 21 Nov 2023 13:43 |
| Letzte Änderung: | 23 Nov 2023 10:15 |
| PPN: | |
| Export: | |
| Suche nach Titel in: | TUfind oder in Google |
Verfügbare Versionen dieses Eintrags
- Accurate 3D Positioning for a Mobile Platform in Non-Line-of-Sight Scenarios Based on IMU/Magnetometer Sensor Fusion. (deposited 21 Nov 2023 13:43) [Gegenwärtig angezeigt]
 |
Frage zum Eintrag |
Optionen (nur für Redakteure)
 |
Redaktionelle Details anzeigen |
Drucken
Impressum