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Sensors 2018, 18(1), 126; https://doi.org/10.3390/s18010126

Accurate 3D Positioning for a Mobile Platform in Non-Line-of-Sight Scenarios Based on IMU/Magnetometer Sensor Fusion

1
Institut für Geodäsie, Technische Universität Darmstadt, FG Geodätische Messsysteme und Sensorik, Franziska-Braun-Straße 7, 64287 Darmstadt, Germany
2
Department of Mathematics and Computer Science, Freie Universität Berlin, Takustraße 9, 14195 Berlin, Germany
3
Institut für Baubetrieb, Technische Universität Darmstadt, El-Lissitzky-Straße 1, 64287 Darmstadt, Germany
*
Author to whom correspondence should be addressed.
Received: 31 October 2017 / Revised: 15 December 2017 / Accepted: 31 December 2017 / Published: 4 January 2018
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Abstract

In recent years, a variety of real-time applications benefit from services provided by localization systems due to the advent of sensing and communication technologies. Since the Global Navigation Satellite System (GNSS) enables localization only outside buildings, applications for indoor positioning and navigation use alternative technologies. Ultra Wide Band Signals (UWB), Wireless Local Area Network (WLAN), ultrasonic or infrared are common examples. However, these technologies suffer from fading and multipath effects caused by objects and materials in the building. In contrast, magnetic fields are able to pass through obstacles without significant propagation errors, i.e. in Non-Line of Sight Scenarios (NLoS). The aim of this work is to propose a novel indoor positioning system based on artificially generated magnetic fields in combination with Inertial Measurement Units (IMUs). In order to reach a better coverage, multiple coils are used as reference points. A basic algorithm for three-dimensional applications is demonstrated as well as evaluated in this article. The established system is then realized by a sensor fusion principle as well as a kinematic motion model on the basis of a Kalman filter. Furthermore, a pressure sensor is used in combination with an adaptive filtering method to reliably estimate the platform’s altitude. View Full-Text
Keywords: mobile platform; robotic; indoor positioning; magnetic field; Kalman filter; magnetometer; pressure sensor; barometer; MILPS mobile platform; robotic; indoor positioning; magnetic field; Kalman filter; magnetometer; pressure sensor; barometer; MILPS
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Hellmers, H.; Kasmi, Z.; Norrdine, A.; Eichhorn, A. Accurate 3D Positioning for a Mobile Platform in Non-Line-of-Sight Scenarios Based on IMU/Magnetometer Sensor Fusion. Sensors 2018, 18, 126.

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