MAINS: A Magnetic Field Aided Inertial Navigation System for Indoor Positioning - Multidisciplinary Institute in Artificial intelligence - Grenoble Alpes
Journal Articles IEEE Sensors Journal Year : 2024

MAINS: A Magnetic Field Aided Inertial Navigation System for Indoor Positioning

Abstract

A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the displacement and orientation changes of the system, thereby aiding the inertial navigation system (INS). Experiments show that MAINS significantly outperforms the stand-alone INS, demonstrating a remarkable two orders of magnitude reduction in position error. Furthermore, when compared to the state-of-the-art magnetic-fieldaided navigation approach, the proposed method exhibits slightly improved horizontal position accuracy. On the other hand, it has noticeably larger vertical error on datasets with large magnetic field variations. However, one of the main advantages of MAINS compared to the state-of-the-art is that it enables flexible sensor configurations. The experimental results show that the position error after 2 minutes of navigation in most cases is less than 3 meters when using an array of 30 magnetometers. Thus, the proposed navigation solution has the potential to solve one of the key challenges faced with current magnetic-field simultaneous localization and mapping (SLAM) solutionsthe very limited allowable length of the exploration phase during which unvisited areas are mapped.

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Dates and versions

hal-04706768 , version 1 (23-09-2024)
hal-04706768 , version 2 (15-01-2025)

Identifiers

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Chuan Huang, Gustaf Hendeby, Hassen Fourati, Christophe Prieur, Isaac Skog. MAINS: A Magnetic Field Aided Inertial Navigation System for Indoor Positioning. IEEE Sensors Journal, 2024, 24 (9), pp.15156-15166. ⟨10.1109/JSEN.2024.3379932⟩. ⟨hal-04706768v2⟩
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