期刊
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
卷 68, 期 1, 页码 116-128出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIM.2018.2833978
关键词
Indoor navigation; localization; low-frequency magnetic field; magnetometer; rotating magnetic field
In this paper, we propose a method for indoor localization based on quasi-static magnetic fields. High penetration ability and absence of multipath effects make it advantageous over other indoor localization techniques based on electromagnetic or acoustic waves. Moreover, the circular rotating magnetic field's specific structure enables it to be distinguished from common magnetic interferences, which generally lack this feature. A dual-axis search-coil magnetometer is placed at a known location with a known orientation and it is used to localize the mobile platform equipped with a source of a rotating magnetic field. We have carried out a theoretical analysis obtaining closedform expressions for the bearing and distance. The analytical expressions allow calculations without high computational complexity as often required by the numerical analysis methods. The localization method has been tested using a computer simulation in order to evaluate its performance. We have developed a system prototype that has been successfully tested in our laboratory. In a test area of 7 m x 7 m, the experimental results yield a mean localization error of 0.11 m and a maximal localization error of less than 0.29 m. The high accuracy of the method and the absence of resource-intensive calculations allow low-power, realtime implementation.
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