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JRM Vol.31 No.2 pp. 203-211
doi: 10.20965/jrm.2019.p0203
(2019)

Paper:

Indoor Self-Localization Using Multiple Magnetic Sensors

Isaku Nagai*, Jun Sakai**, and Keigo Watanabe*

*Graduate School of Natural Science and Technology, Okayama University
3-1-1 Tsushima-naka, Kita-ku, Okayama-shi, Okayama 700-8530, Japan

**Kusatsu Facility, OMRON Corporation
2-2-1 Nishi-kusatsu, Kusatsu-shi, Shiga 525-0035, Japan

Received:
September 19, 2018
Accepted:
January 30, 2019
Published:
April 20, 2019
Keywords:
magnetic sensor, Monte Carlo localization, optical sensor, mobile robot, noncontact measurement
Abstract
Indoor Self-Localization Using Multiple Magnetic Sensors

Magnetic map and estimated trajectory

This study proposes an indoor self-localization for the estimation of the position and posture of an instrument using multiple magnetic sensors. First, a magnetic map for the localization is efficiently created using multiple sensors and a local positioning device made from an optical sensor and a gyroscope. For the localization estimating trajectories, the measurement error of the local positioning is corrected by matching it with the magnetic map. Our instrument is composed of six magnetic sensors, and the description of the self-localization details is based on the framework of a particle filter. The experimental results show better indoor path trajectories compared with a raw trajectory without map matching. The accuracy of the instrument using various numbers of magnetic sensors for the estimation is also investigated.

Cite this article as:
I. Nagai, J. Sakai, and K. Watanabe, “Indoor Self-Localization Using Multiple Magnetic Sensors,” J. Robot. Mechatron., Vol.31, No.2, pp. 203-211, 2019.
Data files:
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Last updated on May. 22, 2019