Print Email Facebook Twitter Sensor fusion for magneto-inductive navigation Title Sensor fusion for magneto-inductive navigation Author Wahlström, Johan (University of Oxford) Kok, M. (TU Delft Team Jan-Willem van Wingerden) Porto Buarque de Gusmão, Pedro (University of Oxford) Abrudan, Traian E. (Nokia Bell Labs; University of Oxford) Trigoni, Niki (University of Oxford) Markham, Andrew (University of Oxford) Date 2020 Abstract Magneto-inductive navigation is an inexpensive and easily deployable solution to many of today’s navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation and multipath that often plague competing modalities. Using triaxial transmitter and receiver coils, it is possible to compute position and orientation estimates in three dimensions. However, in many situations, additional information is available that constrains the set of possible solutions. For example, the receiver may be known to be coplanar with the transmitter, or orientation information may be available from inertial sensors. We employ a maximum a posteriori estimator to fuse magneto-inductive signals with such complementary information. Further, we derive the Cramér-Rao bound for the position estimates and investigate the problem of detecting distortions caused by ferrous material. The performance of the estimator is compared to the Cramér-Rao bound and a state-of-the-art estimator using both simulations and real-world data. By fusing magneto-inductive signals with accelerometer measurements, the median position error is reduced almost by a factor of two. Subject MagnetometersNavigationMagnetic momentsTransmittersMagnetic resonance imagingEstimationReceivers To reference this document use: http://resolver.tudelft.nl/uuid:fdac3555-ac3f-40a3-bdce-b181278ad96c DOI https://doi.org/10.1109/JSEN.2019.2942451 Embargo date 2020-03-19 ISSN 1530-437X Source IEEE Sensors Journal, 20 (1), 386-396 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2020 Johan Wahlström, M. Kok, Pedro Porto Buarque de Gusmão, Traian E. Abrudan, Niki Trigoni, Andrew Markham Files PDF Sensor_Fusion_for_Magneto ... gation.pdf 2.67 MB Close viewer /islandora/object/uuid:fdac3555-ac3f-40a3-bdce-b181278ad96c/datastream/OBJ/view