4 papers · 1 filter
MI-SLAM: Magnetic Inertial SLAM Systems
Chuan Huang, Gustaf Hendeby, Isaac Skog
Spatially inhomogeneous magnetic fields offer a valuable, non-visual information source for positioning. Among systems leveraging this, magnetic field-based simultaneous localizati…
Joint Magnetometer-IMU Calibration via Maximum A Posteriori Estimation
Chuan Huang, Gustaf Hendeby, Isaac Skog
This paper presents a new method for jointly calibrating a magnetometer and inertial measurement unit (IMU), focusing on balancing calibration accuracy and computational efficiency…
An Observability-Constrained Magnetic Field-Aided Inertial Navigation System -- Extended Version
Chuan Huang, Gustaf Hendeby, Isaac Skog
Maintaining consistent uncertainty estimates in localization systems is crucial as the perceived uncertainty commonly affects high-level system components, such as control or decis…
MAINS: A Magnetic Field Aided Inertial Navigation System for Indoor Positioning
Chuan Huang, Gustaf Hendeby, Hassen Fourati +2
A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations i…