A Framework for Indoor Localization Using the Magnetic Field
M. Kok (TU Delft - Team Manon Kok)
F.M. Viset (TU Delft - Team Manon Kok)
Mostafa Osman (TU Delft - Team Manon Kok)
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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.