Title
Feasibility of geomagnetic localization and geomagnetic RatSLAMFeasibility of geomagnetic localization and geomagnetic RatSLAM
Author
Faculty/Department
Faculty of Applied Economics
Faculty of Applied Engineering Sciences
Research group
Modeling Of Systems and Internet Communication (MOSAIC)
Constrained Systems Lab (CoSys-Lab)
Engineering Management
Publication type
article
Publication
Subject
Engineering sciences. Technology
Source (journal)
International journal on advances in systems and measurements
Volume/pages
7(2014):1-2, p. 44-56
ISSN
1942-261X
Carrier
E
Target language
English (eng)
Affiliation
University of Antwerp
Abstract
The need for accurate indoor localization increases as we get used to accessible outdoor localization, and the number of applications depending on localization grows. Indoor localization is challenging because of frequent line of sight obstructions and dynamic changes in the environment. Magnetometers can be found in many modern electronic devices and provide a simple way to measure the geomagnetic field intensity. Due to distortions in this magnetic field, these measurements often provide enough information to enable identification of a location using pattern matching. We show the feasibility of using these magnetic field intensity measurements in localization and SLAM applications. Our SLAM system of choice is the biologically inspired RatSLAM, as it allows pattern matching as scene recognition. We demonstrate a number of experiments in various environments, including a suburban house and a university lab. We conclude that geomagnetic localization and SLAM are feasible in environments with many distortions in the magnetic field. Such locations are easier to identify than locations with little distortions, which will have the same pattern of magnetic field over larger areas. KeywordsIndoor localization;
Full text (open access)
https://repository.uantwerpen.be/docman/irua/6da3af/c18a2620.pdf
Handle