ILoA: Indoor Localization Using Augmented Vector of Geomagnetic Field

Cited 2 time in webofscience Cited 0 time in scopus
  • Hit : 113
  • Download : 57
In this article, we propose a new geomagnetic localization scheme, named ILoA, to address error accumulation and global localization. Global localization is a fundamental problem that determines the initial pose under global uncertainty. Moreover, error accumulation using inertial navigation systems (INS) impacts robustness and drift error, making it challenging to achieve reliable estimation. The magnetic field in indoor space generates a unique signature/anomaly, which can be used as a local feature. Earth's magnetic field can be easily influenced by ferromagnetic material from the indoor environment due to its weak intensity. The magnetic field vector measured by a magnetometer depends on the orientation of the sensor, which we term a direction variant. We devise a novel approach to identify location and heading through the direction-variant augmented vector. Since a magnetic field vector under varying poses can produce many different vectors, the geomagnetic map is trained with the transformation. We present experiments in two testbeds, covering open space, showing that the proposed method using the magnetic field vector is efficient for global localization and accuracy compared with a state-of-the-art approach.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2020-10
Language
English
Article Type
Article
Citation

IEEE ACCESS, v.8, pp.184242 - 184255

ISSN
2169-3536
DOI
10.1109/ACCESS.2020.3029281
URI
http://hdl.handle.net/10203/278002
Appears in Collection
CS-Journal Papers(저널논문)
Files in This Item
000583557200001.pdf(19.02 MB)Download
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 2 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0