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

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).
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https://hal-mines-paristech.archives-ouvertes.fr/hal-00562669
Contributor : François Chaplais <>
Submitted on : Thursday, February 3, 2011 - 6:03:32 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM

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David Vissière, Alain Pierre Martin, Nicolas Petit. Using distributed magnetometers to increase IMU-based velocity estimation into perturbed area. 46th IEEE Conference on Decision and Control, Dec 2007, New Orleans, United States. pp.4924-4931, ⟨10.1109/CDC.2007.4434809⟩. ⟨hal-00562669⟩

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