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dc.contributor.authorWahlstrom, J
dc.contributor.authorKok, M
dc.contributor.authorPorto Buarque de Gusmao, P
dc.contributor.authorAbrudan, TE
dc.contributor.authorTrigoni, N
dc.contributor.authorMarkham, A
dc.date.accessioned2020-07-22T11:50:06Z
dc.date.issued2019-09-19
dc.description.abstractMagneto-inductive navigation is an inexpensive and easily deployable solution to many of today's navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation and multipath that often plague competing modalities. Using triaxial transmitter and receiver coils, it is possible to compute position and orientation estimates in three dimensions. However, in many situations, additional information is available that constrains the set of possible solutions. For example, the receiver may be known to be coplanar with the transmitter, or orientation information may be available from inertial sensors. We employ a maximum a posteriori estimator to fuse magneto-inductive signals with such complementary information. Further, we derive the Cramér-Rao bound for the position estimates and investigate the problem of detecting distortions caused by ferrous material. The performance of the estimator is compared to the Cramér-Rao bound and a state-of-the-art estimator using both simulations and real-world data. By fusing magneto-inductive signals with accelerometer measurements, the median position error is reduced almost by a factor of two.en_GB
dc.description.sponsorshipNational Institute of Standards and Technology (NIST)en_GB
dc.identifier.citationVol. 20 (1), pp. 386 - 396en_GB
dc.identifier.doi10.1109/jsen.2019.2942451
dc.identifier.grantnumber70NANB17H185en_GB
dc.identifier.urihttp://hdl.handle.net/10871/122075
dc.language.isoenen_GB
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_GB
dc.rights© 2019 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.en_GB
dc.subjectEstimationen_GB
dc.subjectReceiversen_GB
dc.subjectMagnetometersen_GB
dc.subjectnavigationen_GB
dc.subjectmagnetic momentsen_GB
dc.subjecttransmittersen_GB
dc.subjectmagnetic resonance imagingen_GB
dc.titleSensor Fusion for Magneto-Inductive Navigationen_GB
dc.typeArticleen_GB
dc.date.available2020-07-22T11:50:06Z
dc.identifier.issn1530-437X
dc.descriptionThis is the author accepted manuscript. The final version is available from Institute of Electrical and Electronics Engineers (IEEE) via the DOI in this record.en_GB
dc.identifier.journalIEEE Sensors Journalen_GB
dc.rights.urihttp://www.rioxx.net/licenses/all-rights-reserveden_GB
dcterms.dateAccepted2019-09-17
rioxxterms.versionAMen_GB
rioxxterms.licenseref.startdate2019-09-17
rioxxterms.typeJournal Article/Reviewen_GB
refterms.dateFCD2020-07-22T11:43:28Z
refterms.versionFCDAM
refterms.dateFOA2020-07-22T11:50:11Z
refterms.panelBen_GB


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