Hellmers, Hendrik ; Norrdine, Abdelmoumen ; Blankenbach, Jörg ; Eichhorn, Andreas (2016)
IMU/ Magnetometer based 3D Indoor Positioning for wheeled Platforms in NLoS scenarios.
2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN). Alcalá de Henares, Madrid, Spain (4-7.10.2016)
doi: 10.1109/IPIN.2016.7743655
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
In recent years the research on localization and navigation systems in GNSS-denied environments has been focused from both industry and research. Although many technologies based on e.g. UWB, WLAN, ultrasonic or infrared have been utilized, there is still no final solution for position and orientation determination in indoor areas. The fact, that applied signals in common approaches are influenced by fading and multipath inside buildings leads to restrictions on line-of-sight (LoS) conditions. In contrast, the ability of penetrating any kind of building materials qualifies magnetic fields to realize object positioning in harsh indoor environments. Hence, a DC Magnetic signal based Indoor Local Positioning System (MILPS) has been developed consisting of multiple electrical coils, representing reference stations. Based on the magnetic field intensities of at least three different coils, the corresponding slope distances and therefore the observer’s position can be estimated. Facing kinematic purposes a combination of MILPS and an Inertial Measurement Unit (IMU) has been applied, utilizing methods of sensor fusion. Observed inertial data – in this case three dimensional acceleration and angular rate measurements – lead to the sensor’s relative motion changes, which are processed by kinematic motion models. Based on a discrete integration with respect to the measurement time interval, the sensor’s current state – consisting of position, velocity and orientation – can be predicted. These highfrequency derived predictions are furthermore supported by external MILPS-distances and elevation angles utilizing methods of Kalman Filter. Focus in this contribution lies on the processing of both inertial data and magnetic field measurements for three dimensional applications.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2016 |
| Autor(en): | Hellmers, Hendrik ; Norrdine, Abdelmoumen ; Blankenbach, Jörg ; Eichhorn, Andreas |
| Art des Eintrags: | Bibliographie |
| Titel: | IMU/ Magnetometer based 3D Indoor Positioning for wheeled Platforms in NLoS scenarios |
| Sprache: | Englisch |
| Publikationsjahr: | Oktober 2016 |
| Ort: | Alcalá de Henares, Madrid, Spain |
| Verlag: | IEEE |
| Buchtitel: | 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN) : 4-7 October 2016, Alcalá de Henares, Madrid, Spain |
| Veranstaltungstitel: | 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN) |
| Veranstaltungsort: | Alcalá de Henares, Madrid, Spain |
| Veranstaltungsdatum: | 4-7.10.2016 |
| DOI: | 10.1109/IPIN.2016.7743655 |
| URL / URN: | http://ieeexplore.ieee.org/document/7743655/ |
| Kurzbeschreibung (Abstract): | In recent years the research on localization and navigation systems in GNSS-denied environments has been focused from both industry and research. Although many technologies based on e.g. UWB, WLAN, ultrasonic or infrared have been utilized, there is still no final solution for position and orientation determination in indoor areas. The fact, that applied signals in common approaches are influenced by fading and multipath inside buildings leads to restrictions on line-of-sight (LoS) conditions. In contrast, the ability of penetrating any kind of building materials qualifies magnetic fields to realize object positioning in harsh indoor environments. Hence, a DC Magnetic signal based Indoor Local Positioning System (MILPS) has been developed consisting of multiple electrical coils, representing reference stations. Based on the magnetic field intensities of at least three different coils, the corresponding slope distances and therefore the observer’s position can be estimated. Facing kinematic purposes a combination of MILPS and an Inertial Measurement Unit (IMU) has been applied, utilizing methods of sensor fusion. Observed inertial data – in this case three dimensional acceleration and angular rate measurements – lead to the sensor’s relative motion changes, which are processed by kinematic motion models. Based on a discrete integration with respect to the measurement time interval, the sensor’s current state – consisting of position, velocity and orientation – can be predicted. These highfrequency derived predictions are furthermore supported by external MILPS-distances and elevation angles utilizing methods of Kalman Filter. Focus in this contribution lies on the processing of both inertial data and magnetic field measurements for three dimensional applications. |
| 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: | 31 Okt 2016 07:44 |
| Letzte Änderung: | 07 Jan 2021 19:34 |
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