Journal
SENSORS
Volume 17, Issue 11, Pages -Publisher
MDPI AG
DOI: 10.3390/s17112527
Keywords
magnetic positioning systems; magnetic measurement models; tracking; unscented Kalman filter
Funding
- Italian Ministry of Instruction, University and Research (MIUR) [PRIN 2015C37B25]
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In this paper, we consider magnetic positioning and tracking of objects and provide a comparison of the characteristics of two major measurement models: the magnetic dipole model and the mutual inductance model. The numerical results obtained by applying these models to a short-range position measurement application, with a maximum operating distance of approximately 50 cm, are compared. Based on the results of this comparison, a prototype 9-sensor array is developed, experimental tests are performed, and extensive measurement results are presented. Outcomes show the feasibility of tracking the position and orientation of a mobile coil in real time with a median positioning error below 1 cm and a worst-case error of about 2 cm and 11 degrees inside a spatial region of 30 x 30 x 30 cm(3) operational volume.
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