TY - JOUR
T1 - iMag+: An Accurate and Rapidly Deployable Inertial Magneto-Inductive SLAM System
AU - Wei, Bo
AU - Trigoni, Niki
AU - Markham, Andrew
N1 - Research funded by Innovate UK (Tracksafe 102033) | National Institute of Standards and Technology (70NANB17H185) | UK Research and Innovation (ACE-OPS EP/S030832/1.)
PY - 2022/10/1
Y1 - 2022/10/1
N2 - Localisation is an important part of many applications. Our motivating scenarios are short-term construction work and emergency rescue. These scenarios also require rapid setup and robustness to environmental conditions additional to localisation accuracy. These requirements preclude the use of many traditional high-performance methods, e.g. vision-based, laser-based, Ultra-wide band (UWB) and Global Positioning System (GPS)-based localisation systems. To overcome these challenges, we introduce iMag+, an accurate and rapidly deployable inertial magneto-inductive (MI) mapping and localisation system, which only requires monitored workers to carry a single MI transmitter and an inertial measurement unit in order to localise themselves with minimal setup effort. However, one major challenge is to use distorted and ambiguous MI location estimates for localisation. To solve this challenge, we propose a novel method to use MI devices for sensing environmental distortions for accurate closing inertial loops. We also suggest a robust and efficient first quadrant estimator to sanitise the ambiguous MI estimates. By applying robust simultaneous localisation and mapping (SLAM), our proposed localisation method achieves excellent tracking accuracy and can improve performance significantly compared with only using a Magneto-inductive device or inertial measurement unit (IMU) for localisation.
AB - Localisation is an important part of many applications. Our motivating scenarios are short-term construction work and emergency rescue. These scenarios also require rapid setup and robustness to environmental conditions additional to localisation accuracy. These requirements preclude the use of many traditional high-performance methods, e.g. vision-based, laser-based, Ultra-wide band (UWB) and Global Positioning System (GPS)-based localisation systems. To overcome these challenges, we introduce iMag+, an accurate and rapidly deployable inertial magneto-inductive (MI) mapping and localisation system, which only requires monitored workers to carry a single MI transmitter and an inertial measurement unit in order to localise themselves with minimal setup effort. However, one major challenge is to use distorted and ambiguous MI location estimates for localisation. To solve this challenge, we propose a novel method to use MI devices for sensing environmental distortions for accurate closing inertial loops. We also suggest a robust and efficient first quadrant estimator to sanitise the ambiguous MI estimates. By applying robust simultaneous localisation and mapping (SLAM), our proposed localisation method achieves excellent tracking accuracy and can improve performance significantly compared with only using a Magneto-inductive device or inertial measurement unit (IMU) for localisation.
KW - Distortion
KW - Distortion measurement
KW - Global Positioning System
KW - Inertial measurements
KW - Localisation
KW - Magnetic resonance imaging
KW - Magneto-inductive device
KW - Radio transmitters
KW - SLAM
KW - Simultaneous localization and mapping
KW - Trajectory
UR - http://www.scopus.com/inward/record.url?scp=85102319314&partnerID=8YFLogxK
U2 - 10.1109/TMC.2021.3062813
DO - 10.1109/TMC.2021.3062813
M3 - Article
VL - 21
SP - 3644
EP - 3655
JO - IEEE Transactions on Mobile Computing
JF - IEEE Transactions on Mobile Computing
SN - 1536-1233
IS - 10
ER -