Next Article in Journal
High-Resolution Microfluidic Paper-Based Analytical Devices for Sub-Microliter Sample Analysis
Next Article in Special Issue
Hybrid Integration of Magnetoresistive Sensors with MEMS as a Strategy to Detect Ultra-Low Magnetic Fields
Previous Article in Journal
Assembly of a 3D Cellular Computer Using Folded E-Blocks
Previous Article in Special Issue
Polymer Magnetic Composite Core Based Microcoils and Microtransformers for Very High Frequency Power Applications
Article Menu

Export Article

Open AccessArticle
Micromachines 2016, 7(5), 79; doi:10.3390/mi7050079

Delay Kalman Filter to Estimate the Attitude of a Mobile Object with Indoor Magnetic Field Gradients

GEOLOC laboratory, The French Institute of Science and Technology for Transport, Spatial Planning, Development and Networks (IFSTTAR), Route de Bouaye CS4, 44344 Bouguenais Cedex, France
*
Author to whom correspondence should be addressed.
Academic Editor: Stephanus Büttgenbach
Received: 18 January 2016 / Revised: 1 April 2016 / Accepted: 25 April 2016 / Published: 2 May 2016
(This article belongs to the Special Issue Magnetic MEMS)
View Full-Text   |   Download PDF [2106 KB, uploaded 2 May 2016]   |  

Abstract

More and more services are based on knowing the location of pedestrians equipped with connected objects (smartphones, smartwatches, etc.). One part of the location estimation process is attitude estimation. Many algorithms have been proposed but they principally target open space areas where the local magnetic field equals the Earth’s field. Unfortunately, this approach is impossible indoors, where the use of magnetometer arrays or magnetic field gradients has been proposed. However, current approaches omit the impact of past state estimates on the current orientation estimate, especially when a reference field is computed over a sliding window. A novel Delay Kalman filter is proposed in this paper to integrate this time correlation: the Delay MAGYQ. Experimental assessment, conducted in a motion lab with a handheld inertial and magnetic mobile unit, shows that the novel filter better estimates the Euler angles of the handheld device with an 11.7° mean error on the yaw angle as compared to 16.4° with a common Additive Extended Kalman filter. View Full-Text
Keywords: attitude estimation; extended Kalman filter; Kalman filter with delay; inertial mobile unit (IMU); magnetometer; pedestrian navigation attitude estimation; extended Kalman filter; Kalman filter with delay; inertial mobile unit (IMU); magnetometer; pedestrian navigation
Figures

Figure 1

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).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Combettes, C.; Renaudin, V. Delay Kalman Filter to Estimate the Attitude of a Mobile Object with Indoor Magnetic Field Gradients. Micromachines 2016, 7, 79.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Micromachines EISSN 2072-666X Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top