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Robust Heading Estimation Indoors using Convex Optimization
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2013 (English)In: 2013 16TH INTERNATIONAL CONFERENCE ON INFORMATION FUSION (FUSION), IEEE , 2013, 1173-1179 p.Conference paper, Published paper (Refereed)
Abstract [en]

The problem of estimating heading is central in the indoor positioning problem based on measurements from inertial measurement and magnetic units, Integrating rate of turn angular rate gives the heading with unknown initial condition and a linear drift over time, while the magnetometer gives absolute heading, but m here long segments of data are useless in practice because of magnetic disturbances. A basic Kalman filter approach with outlier rejection has turned out to be difficult to use with high integrity. Here, we propose an approach based on convex optimization, where segments of good magnetometer data are separated from disturbed data and jointly fused with the yaw rate measurements. The optimization framework is flexible with many degrees of freedom in the modeling phase, and we outline one design. A recursive solution to the optimization is derived, which has a computational complexity comparable to the simplest possible Kalman filter. The performance is evaluated using data from a handheld smartphone for a large amount of indoor trajectories, and the result demonstrates that the method effectively resolves the magnetic disturbances.

Place, publisher, year, edition, pages
IEEE , 2013. 1173-1179 p.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:liu:diva-111318ISI: 000341370000157ISBN: 978-605-86311-1-3 (print)OAI: oai:DiVA.org:liu-111318DiVA: diva2:755242
Conference
16th International Conference on Information Fusion (FUSION)
Available from: 2014-10-14 Created: 2014-10-14 Last updated: 2014-10-14

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Callmer, JonasTörnqvist, DavidGustafsson, Fredrik

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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf