Skip to Main content Skip to Navigation
Conference papers

Using magnetic disturbances to improve IMU-based position estimation

Abstract : We address the problem of position estimation for a rigid body using an inertial measurement unit (IMU). In this paper, we present a Kalman filtering technique which takes advantage of the magnetic disturbances usually observed indoors. This is an important topic for military operations in urban areas where GPS is often unavailable. This approach yields significant improvements in estimation accuracy. We illustrate our technique with several experimental results obtained with a low cost IMU.
Document type :
Conference papers
Complete list of metadatas

Cited literature [12 references]  Display  Hide  Download

https://hal-mines-paristech.archives-ouvertes.fr/hal-00563412
Contributor : François Chaplais <>
Submitted on : Friday, February 4, 2011 - 6:17:42 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM
Long-term archiving on: : Thursday, May 5, 2011 - 3:37:46 AM

File

MagneticDistubancesECC2007.pdf
Publisher files allowed on an open archive

Identifiers

  • HAL Id : hal-00563412, version 1

Citation

David Vissière, Alain Pierre Martin, Nicolas Petit. Using magnetic disturbances to improve IMU-based position estimation. European Control Conference 2007, Jul 2007, Kos, Greece. pp.2853-2858. ⟨hal-00563412⟩

Share

Metrics

Record views

308

Files downloads

707