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Motion Tracking Using a Permanent Magnet
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
2013 (engelsk)Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
Abstract [en]

In this project the possibility of using a network of magnetometers sensing a permanent magnet for tracking has been investigated. Both the orientation and the position of the magnet have been considered. A dipole approximation of the magnetic field is used to develop two models. One of the models parametrizes the orientation with the magnetic moment vector, while the other parametrizes the orientation with a unit quaternion. An extended Kalman filter have been used to estimate position and orientation.

Several calibration algorithms have been developed to calibrate for sensor errors, differences in sensor coordinate frame orientations and also for the estimation of the magnetic moment norm of a permanent magnet. The models have been tested using an optical reference system for position and orientation estimation. Initial results are ambiguous and further testing is necessary. One conclusion is that the model using the magnetic moment vector as orientation parametrization is less sensitive to the accuracy of the initial guesses of the filter recursions and also less sensitive to possible model errors.

A mathematical result of the possibility of using a non stationary sensor network to track the magnet is also given.

sted, utgiver, år, opplag, sider
2013. , s. 46
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-94591ISRN: LiTH-ISY-EX--13/4697--SEOAI: oai:DiVA.org:liu-94591DiVA, id: diva2:633536
Eksternt samarbeid
Biomedical Signals and Systems Group, Twente University
Fag / kurs
Automatic Control
Veileder
Examiner
Tilgjengelig fra: 2013-06-27 Laget: 2013-06-27 Sist oppdatert: 2013-06-27bibliografisk kontrollert

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