A Framework for Indoor Localization Using the Magnetic Field

Conference paper (2022)

Authors

M. Kok Team Manon Kok - Mechanical, Maritime and Materials Engineering
F.M. Viset Team Manon Kok - Mechanical, Maritime and Materials Engineering
M.E.A. Osman Team Manon Kok - Mechanical, Maritime and Materials Engineering
Research Group
Team Manon Kok (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 M. Kok, F.M. Viset, M.E.A. Osman
DOI
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https://doi.org/10.1109/MDM55031.2022.00086
SLAM Magnetic field Indoor localization Inertial sensors in vehicle motion estimation and control
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Published Date

2022

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Manon Kok

Abstract

In this work, our focus is on indoor localization using the indoor magnetic field as a source of position information. This relies on the fact that ferromagnetic materials inside buildings cause the magnetic field to vary spatially. We jointly estimate the pose of a combined sensor module (containing a magnetometer) as well as the magnetic field map. We show that our previously developed algorithm for magnetic field-based simultaneous localization and mapping can be adapted and extended into a general framework where a multitude of measurements can be included. We exemplify this using a foot-mounted inertial measurement unit where we additionally assume the availability of range measurements.