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


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

September 19, 2018
January 30, 2019
April 20, 2019
magnetic sensor, Monte Carlo localization, optical sensor, mobile robot, noncontact measurement

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.

Magnetic map and estimated trajectory

Magnetic map and estimated trajectory

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.
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Last updated on Jun. 19, 2024