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Using distributed magnetometers to increase IMU-based velocity estimation into perturbed area

Authors: David Vissière, Alain Martin, Nicolas Petit, Proc. of the 46th IEEE Conference on Decision and Control, pp. 4924-4931, December 12-14, 2007, New Orleans, USA DOI: 10.1109/CDC.2007.4434809
We address the problem of position estimation for a rigid body using an inertial measurement unit (IMU) and a set of spatially distributed magnetometers. We take advantage of the magnetic field disturbances usually observed indoors. This is particularly relevant when GPS is unavailable (e.g. during military operations in urban areas). We illustrate our technique with several experimental results obtained with a Kalman filter. We also present our testing bench which consists of low cost sensors (IMU and magnetometers).
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BibTeX:
@Proceedings{,
author = {David Vissière, Alain Martin, Nicolas Petit},
editor = {},
title = {Using distributed magnetometers to increase IMU-based velocity estimation into perturbed area},
booktitle = {46th IEEE Conference on Decision and Control},
volume = {},
publisher = {},
address = {New Orleans},
pages = {4924-4931},
year = {2007},
abstract = {We address the problem of position estimation for a rigid body using an inertial measurement unit (IMU) and a set of spatially distributed magnetometers. We take advantage of the magnetic field disturbances usually observed indoors. This is particularly relevant when GPS is unavailable (e.g. during military operations in urban areas). We illustrate our technique with several experimental results obtained with a Kalman filter. We also present our testing bench which consists of low cost sensors (IMU and magnetometers).},
keywords = {}}