Real-Time Orientation-Invariant Magnetic Localization and Sensor Calibration Based on Closed-Form Models


This paper presents a true-time orientation-invariant magnetic localization method primarily based on a closed-form analytical inverse model. This method requires only a combine of cheap 3-axis magnetic sensors to amass data for solving the distinctive answer of the inverse drawback. Cashing in on gravity, a permanent-magnet-upright device is meant to take care of a relentless magnetic moment direction. A good calibration technique for the sensor orientation is proposed based mostly on orthogonality to assure high performance. Then, a prototype magnetic localization system is developed. An in-depth experimental analysis is presented demonstrating the planning feasibility of the tracking system in real time with a cycle-time but ms, and root-mean-sq. translation and rotation errors of forty μm for a forty mm × 40 mm × 50 mm volume and 0.sixteen° for [-10°, ten°], respectively.

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