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Sensors 2017, 17(3), 651; doi:10.3390/s17030651

Indoor Positioning System Using Magnetic Field Map Navigation and an Encoder System

School of Electronics Engineering, Pusan National University, Busan 46241, Korea
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 31 January 2017 / Revised: 19 March 2017 / Accepted: 20 March 2017 / Published: 22 March 2017
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [4023 KB, uploaded 22 March 2017]   |  


In the indoor environment, variation of the magnetic field is caused by building structures, and magnetic field map navigation is based on this feature. In order to estimate position using this navigation, a three-axis magnetic field must be measured at every point to build a magnetic field map. After the magnetic field map is obtained, the position of the mobile robot can be estimated with a likelihood function whereby the measured magnetic field data and the magnetic field map are used. However, if only magnetic field map navigation is used, the estimated position can have large errors. In order to improve performance, we propose a particle filter system that integrates magnetic field map navigation and an encoder system. In this paper, multiple magnetic sensors and three magnetic field maps (a horizontal intensity map, a vertical intensity map, and a direction information map) are used to update the weights of particles. As a result, the proposed system estimates the position and orientation of a mobile robot more accurately than previous systems. Also, when the number of magnetic sensors increases, this paper shows that system performance improves. Finally, experiment results are shown from the proposed system that was implemented and evaluated. View Full-Text
Keywords: magnetic field map; particle filter; indoor navigation; absolute position estimation magnetic field map; particle filter; indoor navigation; absolute position estimation

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Kim, H.-S.; Seo, W.; Baek, K.-R. Indoor Positioning System Using Magnetic Field Map Navigation and an Encoder System. Sensors 2017, 17, 651.

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