Performance Verification of AC Magnetic Positioning System for Unmanned Vehicle Navigation and Control

DaeHyeon Jeong, Byungjin Lee, Dong Gyun Kim, Sangkyung Sung

Abstract: Abstract—In this paper, we introduce a pose estimation system which is called MPS, where magnetic field is employed as an information delivering medium. It consists of a transmitter part and a receiver part. The transmitter part is a circular coil with a driving resonator circuit that generates an AC magnetic field signal with a pre-designed frequency. We use multiple transmitters which have different carrier frequencies. Each magnetic field covers the navigation area and overlaps in space. A 3-axis magnetometer measures the summed magnetic flux density, and the signals are separated with FDMA. Magnetic vectors are extracted from the sampled signals. It is compared with the estimated vector that obtained from magnetic vector grid map or magnetic field model. The optimized estimation pose obtained using the least squares method. By the way, its implementation for achieving real-time control of unmanned vehicles is not yet studied. Under this motivation, this paper attempts to validate whether the developed magnetic positioning system works properly for real-time dynamics control of unmanned vehicles with various methods: using PILS simulator and real system-based experiment. Keywords— MPS, PILS, Unity3D, AirSim, Pixhawk, Navigation, Indoor
Published in: 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)
April 24 - 27, 2023
Hyatt Regency Hotel
Monterey, CA
Pages: 189 - 195
Cite this article: Jeong, DaeHyeon, Lee, Byungjin, Kim, Dong Gyun, Sung, Sangkyung, "Performance Verification of AC Magnetic Positioning System for Unmanned Vehicle Navigation and Control," 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, April 2023, pp. 189-195. https://doi.org/10.1109/PLANS53410.2023.10139989
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