Magnetic field aided heading estimation for indoor pedestrian positioning

2017 ◽  
Author(s):  
Ming Ma ◽  
Qian Song ◽  
Yang-huan Li ◽  
Zhi-min Zhou
Keyword(s):  
Magnetic Field ◽  
Heading Estimation

scholarly journals An Accurate Heading Solution using MEMS-based Gyroscope and Magnetometer Integrated System (Preliminary Results)

2014 ◽  
Vol II-2 ◽  
pp. 75-78 ◽  
Author(s):  
M. El-Diasty
Keyword(s):  
Magnetic Field ◽  
Low Cost ◽  
Estimation Procedure ◽  
Integrated System ◽  
Static Mode ◽  
Earth Magnetic Field ◽  
Heading Estimation ◽  
High Level ◽  
Magnetic Disturbances ◽  
Over Time

An accurate heading solution is required for many applications and it can be achieved by high grade (high cost) gyroscopes (gyros) which may not be suitable for such applications. Micro-Electro Mechanical Systems-based (MEMS) is an emerging technology, which has the potential of providing heading solution using a low cost MEMS-based gyro. However, MEMS-gyro-based heading solution drifts significantly over time. The heading solution can also be estimated using MEMS-based magnetometer by measuring the horizontal components of the Earth magnetic field. The MEMS-magnetometer-based heading solution does not drift over time, but are contaminated by high level of noise and may be disturbed by the presence of magnetic field sources such as metal objects. This paper proposed an accurate heading estimation procedure based on the integration of MEMS-based gyro and magnetometer measurements that correct gyro and magnetometer measurements where gyro angular rates of changes are estimated using magnetometer measurements and then integrated with the measured gyro angular rates of changes with a robust filter to estimate the heading. The proposed integration solution is implemented using two data sets; one was conducted in static mode without magnetic disturbances and the second was conducted in kinematic mode with magnetic disturbances. The results showed that the proposed integrated heading solution provides accurate, smoothed and undisturbed solution when compared with magnetometerbased and gyro-based heading solutions.

scholarly journals Vehicle heading estimation of INS/magnetometer integrated system based on constant hard iron interference calibration

2021 ◽  
pp. 002029402110218
Author(s):  
Xufei Cui ◽  
Yibing Li ◽  
Qiuying Wang ◽  
Malek Karaim ◽  
Aboelmagd Noureldin
Keyword(s):  
Magnetic Field ◽  
Inertial Sensor ◽  
Low Cost ◽  
Ferromagnetic Material ◽  
Estimation Algorithm ◽  
Integrated System ◽  
Local Magnetic Field ◽  
Navigation Systems ◽  
Heading Estimation ◽  
Iron Interference

The integrated INS/magnetometer measurement is widely used in low-cost navigation systems. The integration has proven more effective in suppressing the divergence of heading than relying solely on a magnetometer because this is susceptible to local magnetic field interference, reducing heading accuracy. Magnetometers sense the local magnetic field that may be interfered by the nearby ferromagnetic material or strong electric currents. Hence, the magnetometer must be calibrated in the vehicle before use. When a magnetometer is installed near power components (engines, etc.), soft iron interference can be ignored. In the vehicle’s external environment, the time-varying hard iron interference can reach 100 times the strength of the geomagnetic field, meaning that a magnetometer cannot function efficiently because its accuracy is so reduced. Hence, the constant hard magnetic interference inside the vehicle is mainly concerned in this paper. An INS/Magnetometer heading estimation algorithm based on a two-stage Kalman filter is proposed to solve the problem by combining inertial sensor and magnetometer with attitude information. In the first stage filter, the constant hard iron interference is estimated by setting upward standing the three IMU axes. In the second stage filter, the INS/Magnetometer heading estimation is implemented. Finally, the results show that the algorithm improves the accuracy of vehicle heading calculations.

scholarly journals Skewed-redundant Hall-effect Magnetic Sensor Fusion for Perturbation-free Indoor Heading Estimation

2020 ◽  
Author(s):  
Mojtaba Karimi ◽  
Edwin Babaians ◽  
Martin Oelsch ◽  
Tamay Aykut ◽  
Eckehard Steinbach
Keyword(s):  
Magnetic Field ◽  
Hall Effect ◽  
Field Measurement ◽  
Magnetic Measurement ◽  
Magnetic Sensors ◽  
Magnetic Field Measurement ◽  
Earth’S Magnetic Field ◽  
Fusion Technique ◽  
Earth's Magnetic Field ◽  
Heading Estimation

Robust attitude and heading estimation with respect to a known reference is an essential component for indoor localization in robotic applications. Affordable Attitude and Heading Reference Systems (AHRS) are typically using 9-axis solid-state MEMS-based sensors. The accuracy of heading estimation on such a system depends on the Earth's magnetic field measurement accuracy. The measurement of the Earth's magnetic field using MEMS-based magnetometer sensors in an indoor environment, however, is strongly affected by external magnetic perturbations. This paper presents a novel approach for robust indoor heading estimation based on skewed-redundant magnetometer fusion. A tetrahedron platform based on Hall-effect magnetic sensors is designed to determine the Earth's magnetic field with the ability to compensate for external magnetic field anomalies. Additionally, a correlation-based fusion technique is introduced for perturbation mitigation using the proposed skewed-redundant configuration. The proposed fusion technique uses a correlation coefficient analysis for determining the distorted axis and extracts the perturbation-free Earth's magnetic field vector from the redundant magnetic measurement. Our experimental results show that the proposed scheme is able to successfully mitigate the anomalies in the magnetic field measurement and estimates the Earth's true magnetic field. Using the proposed platform, we achieve a Root Mean Square Error of 12.74$\degree$ for indoor heading estimation without using an additional gyroscope.

Deep Fusion of a Skewed Redundant Magnetic and Inertial Sensor for Heading State Estimation in a Saturated Indoor Environment

2021 ◽  
Vol 15 (03) ◽  
pp. 313-335
Author(s):  
Mojtaba Karimi ◽  
Edwin Babaians ◽  
Martin Oelsch ◽  
Eckehard Steinbach
Keyword(s):  
Magnetic Field ◽  
Indoor Environment ◽  
Inertial Sensor ◽  
Low Cost ◽  
Magnetic Sensors ◽  
Filter Model ◽  
Novel Approach ◽  
Essential Components ◽  
Heading Estimation

Robust attitude and heading estimation in an indoor environment with respect to a known reference are essential components for various robotic applications. Affordable Attitude and Heading Reference Systems (AHRS) are typically using low-cost solid-state MEMS-based sensors. The precision of heading estimation on such a system is typically degraded due to the encountered drift from the gyro measurements and distortions of the Earth’s magnetic field sensing. This paper presents a novel approach for robust indoor heading estimation based on skewed redundant inertial and magnetic sensors. Recurrent Neural Network-based (RNN) fusion is used to perform robust heading estimation with the ability to compensate for the external magnetic field anomalies. We use our previously described correlation-based filter model for preprocessing the data and for empowering perturbation mitigation. Our experimental results show that the proposed scheme is able to successfully mitigate the anomalies in the saturated indoor environment and achieve a Root-Mean-Square Error of less than [Formula: see text] for long-term use.

scholarly journals Skewed-redundant Hall-effect Magnetic Sensor Fusion for Perturbation-free Indoor Heading Estimation

2020 ◽  
Author(s):  
Mojtaba Karimi ◽  
Edwin Babaians ◽  
Martin Oelsch ◽  
Tamay Aykut ◽  
Eckehard Steinbach
Keyword(s):  
Magnetic Field ◽  
Hall Effect ◽  
Field Measurement ◽  
Magnetic Measurement ◽  
Magnetic Sensors ◽  
Magnetic Field Measurement ◽  
Earth’S Magnetic Field ◽  
Fusion Technique ◽  
Earth's Magnetic Field ◽  
Heading Estimation

Robust attitude and heading estimation with respect to a known reference is an essential component for indoor localization in robotic applications. Affordable Attitude and Heading Reference Systems (AHRS) are typically using 9-axis solid-state MEMS-based sensors. The accuracy of heading estimation on such a system depends on the Earth's magnetic field measurement accuracy. The measurement of the Earth's magnetic field using MEMS-based magnetometer sensors in an indoor environment, however, is strongly affected by external magnetic perturbations. This paper presents a novel approach for robust indoor heading estimation based on skewed-redundant magnetometer fusion. A tetrahedron platform based on Hall-effect magnetic sensors is designed to determine the Earth's magnetic field with the ability to compensate for external magnetic field anomalies. Additionally, a correlation-based fusion technique is introduced for perturbation mitigation using the proposed skewed-redundant configuration. The proposed fusion technique uses a correlation coefficient analysis for determining the distorted axis and extracts the perturbation-free Earth's magnetic field vector from the redundant magnetic measurement. Our experimental results show that the proposed scheme is able to successfully mitigate the anomalies in the magnetic field measurement and estimates the Earth's true magnetic field. Using the proposed platform, we achieve a Root Mean Square Error of 12.74$\degree$ for indoor heading estimation without using an additional gyroscope.

Magnetic-field strengths from optical polarization data

1967 ◽  
Vol 31 ◽  
pp. 381-383
Author(s):  
J. M. Greenberg
Keyword(s):  
Magnetic Field ◽  
Optical Polarization ◽  
Polarization Data ◽  
Term Model ◽  
Source Of Information ◽  
Field Strengths

Van de Hulst (Paper 64, Table 1) has marked optical polarization as a questionable or marginal source of information concerning magnetic field strengths. Rather than arguing about this–I should rate this method asq+-, or quarrelling about the term ‘model-sensitive results’, I wish to stress the historical point that as recently as two years ago there were still some who questioned that optical polarization was definitely due to magnetically-oriented interstellar particles.

Observing the galactic magnetic field

1967 ◽  
Vol 31 ◽  
pp. 375-380
Author(s):  
H. C. van de Hulst
Keyword(s):  
Magnetic Field ◽  
Fair Agreement ◽  
Solar Neighbourhood ◽  
Galactic Magnetic Field ◽  
The Magnetic Field

Various methods of observing the galactic magnetic field are reviewed, and their results summarized. There is fair agreement about the direction of the magnetic field in the solar neighbourhood:l= 50° to 80°; the strength of the field in the disk is of the order of 10-5gauss.

Structure in the radiation of the galactic disk

1967 ◽  
Vol 31 ◽  
pp. 355-356
Author(s):  
R. D. Davies
Keyword(s):  
Magnetic Field ◽  
Galactic Disk ◽  
Galactic Magnetic Field ◽  
Measured Polarization

Observations at various frequencies between 136 and 1400 MHz indicate a considerable amount of structure in the galactic disk. This result appears consistent both with measured polarization percentages and with considerations of the strength of the galactic magnetic field.

Calculated Coronal Magnetic Fields and Their Comparison with the Coronal Structures as Observed during Five Solar Eclipses

1994 ◽  
Vol 144 ◽  
pp. 559-564
Author(s):  
P. Ambrož ◽  
J. Sýkora
Keyword(s):  
Magnetic Field ◽  
Solar Cycle ◽  
Magnetic Fields ◽  
Solar Corona ◽  
Coronal Magnetic Field ◽  
Coronal Magnetic Fields ◽  
Solar Eclipses ◽  
Coronal Structures

AbstractWe were successful in observing the solar corona during five solar eclipses (1973-1991). For the eclipse days the coronal magnetic field was calculated by extrapolation from the photosphere. Comparison of the observed and calculated coronal structures is carried out and some peculiarities of this comparison, related to the different phases of the solar cycle, are presented.

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