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 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 Study of Train-Side Passive Magnetic Measurements with Applications to Train Localization

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
Oliver Heirich ◽  
Benjamin Siebler ◽  
Erik Hedberg
Keyword(s):  
Magnetic Field ◽  
Magnetic Measurements ◽  
Low Cost ◽  
Magnetic Sensors ◽  
Single Chip ◽  
Novel Approach ◽  
Magnetic Signatures ◽  
Navigation Equipment ◽  
Electronic Compass ◽  
The Magnetic Field

Passive magnetic sensors measure the magnetic field density in three axes and are often integrated on a single chip. These low-cost sensors are widely used in car navigation as well as in battery powered navigation equipment such as smartphones as part of an electronic compass. We focus on a train localization application with multiple, exclusively onboard sensors and a track map. This approach is considered as a base technology for future railway applications such as collision avoidance systems or autonomous train driving. In this paper, we address the following question: how beneficial are passive magnetic measurements for train localization? We present and analyze measurements of two different magnetometers recorded on a regional train at regular passenger service. We show promising correlations of the measurements with the track positions and the traveled switch way. The processed data reveals that the railway environment has repeatable, location-dependent magnetic signatures. This is considered as a novel approach to train localization, as the use of these magnetic signals at first view is not obvious. The proposed methods based on passive magnetic measurements show a high potential to be integrated in new and existing train localization approaches.

Design of a New Non-Contact Torque Sensor for Rotating Stepped Shaft by Monitoring Magnetic Field

2010 ◽  
Vol 44-47 ◽  
pp. 547-551 ◽  
Author(s):  
Gang Shi ◽  
Na Wang ◽  
Chong Du Cho
Keyword(s):  
Magnetic Field ◽  
Power Transmission ◽  
Low Cost ◽  
Time Algorithm ◽  
Magnetic Sensors ◽  
Torque Sensor ◽  
Rotating Shaft ◽  
Stepped Shaft ◽  
New Development ◽  
Contact Sensor

In this paper, a new non-contact sensor is presented for detecting torque of a rotating stepped shaft which is frequently employed in power transmission system. This sensor doesn’t require cutting or lengthening the rotating shaft. Torque value is obtained by using two magnetic sensors to sense magnetic field intensity of two permanent rubber magnets fixed at the outer surface of the shaft. The phase difference between these two induction signals is used to determine torque of the stepped shaft. A real-time algorithm based on LabVIEW is employed to obtain the measured torque value. The present work has demonstrated that non-contact torque measurement for rotating stepped shaft by monitoring magnetic field is feasible. It seems like that further development will result in low-cost torque sensor. It is hoped that this kind of sensor can lead to a new development direction of torque sensor for rotating shaft.

scholarly journals A Tightly Coupled Positioning Solution for Land Vehicles in Urban Canyons

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Xu Li ◽  
Rong Jiang ◽  
Xianghui Song ◽  
Bin Li
Keyword(s):  
Urban Areas ◽  
Unscented Kalman Filter ◽  
Inertial Sensor ◽  
Low Cost ◽  
Information Source ◽  
Satellite Measurement ◽  
3D Navigation ◽  
Filter Model ◽  
Land Vehicles ◽  
Tightly Coupled

The integration between Global Navigation Satellite System (GNSS) and on-board sensors is widely used for vehicle positioning. However, as the main information source in the integration, the positioning performance of single- or multiconstellation GNSSs is severely degraded in urban canyons due to the effects of Non-Line-Of-Sight (NLOS) and multipath propagations. How to mitigate such effects is vital to achieve accurate positioning performance in urban canyons. This paper proposes a tightly coupled positioning solution for land vehicles, fusing dual-constellation GNSSs with other low-cost complementary sensors. First, the nonlinear filter model is established based on a cost-effective reduced inertial sensor system with 3D navigation solution. Then, an adaptive fuzzy unscented Kalman filter (AF-UKF) algorithm is developed to achieve the global fusion. In the implementation of AF-UKF, the fuzzy calibration logic (FCL) is designed and introduced to adaptively adjust the dependence on each received satellite measurement to effectively mitigate the NLOS and multipath interferences in urban areas. Finally, the proposed solution is evaluated through experiments. The results validate the feasibility and effectiveness of the proposed solution.

scholarly journals ULTRASONIC BASED HEADING ESTIMATION FOR AIDING LAND VEHICLE NAVIGATION IN GNSS DENIED ENVIRONMENT

2018 ◽  
Vol XLII-1 ◽  
pp. 315-322 ◽  
Author(s):  
M. Moussa ◽  
A. Moussa ◽  
N. El-Sheimy
Keyword(s):  
Low Cost ◽  
Ultrasonic Sensor ◽  
The Body ◽  
Navigation Solution ◽  
Land Vehicles ◽  
Land Vehicle Navigation ◽  
Novel Approach ◽  
Constant Distance ◽  
Heading Estimation ◽  
Wooden Surface

<p><strong>Abstract.</strong> This paper introduces a novel approach for land vehicles navigation in GNSS denied environment by aiding the Inertial Navigation System (INS) with a very low-cost ultrasonic sensor using Extended Kalman Filter (EKF) to bound its drift during GNSS blockage through a heading change update to enhance the navigation estimation.</p><p>The ultrasonic sensor is mounted on the body of the car facing the direction of the car motion and behind the front right wheel, a wooden surface is mounted on the car body on the other side of this wheel with a constant distance between the sensor and this surface. The ultrasonic sensor measures this range as long as the car moving straight. When orientation changes, the ultrasonic sensor senses the range to the front right wheel. The relation between the range and the estimated GNSS/INS change of heading during GNSS availability is estimated through a linear regression model. During GNSS signal outage, the ultrasonic sensor provides heading change update to the INS standalone navigation solution.</p><p>Experimental road tests were performed, and the results show that the navigation states estimation using the proposed aiding is improved compared with INS standalone navigation solution during GNSS signal outage. For multiple GNSS outages of 60<span class="thinspace"></span>seconds, the inclusion of the proposed update reduced the position RMSE to around 80<span class="thinspace"></span>% of its value when using the non-holonomic constraints and velocity update only.</p>

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.

Anisotropic magnetoresistive sensors for control of additive manufacturing machines

2019 ◽  
Vol 86 (10) ◽  
pp. 609-618
Author(s):  
Benedikt Hampel ◽  
Marco Tollkühn ◽  
Meinhard Schilling
Keyword(s):  
Additive Manufacturing ◽  
Low Cost ◽  
Magnetic Sensors ◽  
Car Industry ◽  
Dimensional Measurements ◽  
3D Printers ◽  
3D Printed ◽  
Rotational Motions ◽  
Contact Position

AbstractMagnetic sensors are employed for dimensional measurements by detection of sensor motion relative to a small magnet. This is widely used everywhere in industrial automation, car industry and in many home appliances. The use of magnetic sensors in machines for additive manufacturing improves control and long term reliability by non contact position measurements. Magnetic sensors with linearized characteristic based on the anisotropic magnetoresistance (AMR) effect can replace mechanical switches, while specialized AMR angle sensors are preferred for the measurement of rotational motions. Both are easy to use and can be integrated with help of 3D printed holders at low cost. In this work, appropriate sensors are selected, integrated and discussed regarding magnetic disturbance signals apparent in low-cost 3D printers.

scholarly journals Application of Volumetric Absorptive Micro Sampling to Measure Multidimensional Anti-Influenza Hemagglutinin Igg Antibodies by MPlex-Flu Assay

2019 ◽  
Author(s):  
Jiong Wang ◽  
Dongme Li ◽  
Alexander Wiltse ◽  
Jason Emo ◽  
Shannon P. Hilchey ◽  
...  
Keyword(s):  
Influenza Virus ◽  
Small Volume ◽  
Low Cost ◽  
Large Population ◽  
Antibody Activity ◽  
Igg Antibodies ◽  
Influenza Hemagglutinin ◽  
Novel Approach ◽  
Finger Stick

AbstractRecently, volumetric absorptive microsampling (VAMS) has been used for peripheral blood sampling and analyses in several fields. VAMS ensures accurate sampling by collecting a fixed blood volume (10 or 20µL) on a volumetric swab in blood spot format, and allows for long-term sample storage. The mPlex-Flu assay is a novel, multidimensional assay that measures the concentration of antibodies against multiple influenza virus hemagglutinins simultaneously strains with a small volume of serum (less than 5µL). Here we describe combining these two methods to measure multidimensional influenza antibody activity using a finger-stick and VAMS. In this study, we compared influenza antibody profiles measured from capillary blood obtained with a finger-stick, and venous whole blood collected by traditional phlebotomy from 20 subjects using the mPlex-Flu assay. We found that results with the two sampling methods were virtually identical across all influenza strains within the same subject (mean ofR2=0.9470), and that antibodies remained stable over three weeks when VAMS samples were stored at room temperature and transported using a variety of shipping methods. Additionally, VAMS sampling is an easy and highly reproducible process; when volunteers performed finger stick VAMS at home by themselves, the results of anti-HA antibody concentrations showed that they are highly consistent with sampling performed by study personnel on-site (R2=0.9496). This novel approach provides advantages for clinical influenza vaccine studies, including ease of sampling, low cost, and high accuracy. We conclude that these methods could provide an accurate and low-cost means for monitoring the influenza virus antibody responses in large population studies.

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.

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