A Hall-Sensor-Based Localization Method With Six Degrees of Freedom Using Unscented Kalman Filter

Cichon, Daniel; Psiuk, Rafael; Brauer, Hartmut; Toepfer, Hannes

doi:10.1109/jsen.2018.2887299

Cited by 25 publications

(16 citation statements)

References 16 publications

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“…The development of MPO systems is an ongoing theoretical and experimental effort dealing mostly with stray field robustness [10], system fabrication tolerances and combining the signals of multiple sensors with sophisticated algorithms [7]. While such complex implementations can achieve a high level of precision and stability, they often neglect the production cost factor, which is a critical aspect for industrial applications.…”

Section: Problem and Motivationmentioning

confidence: 99%

“…Most state-of-the-art systems solve this problem by approximating the field with simple functions that are easily invertible, as for instance the arctan2-function in linear position applications [3,4]. Such approximations are only suitable for systems with few degrees of freedom, whereas more sophisticated systems perform direct numerical inversion on 3D approximations of the field that are based either on analytical solutions of permanent magnet problems or on simple look-up tables [7,8].…”

Section: Read-outmentioning

confidence: 99%

“…Applications include linear position detection in gear shifts, gas and brake pedals [3], hydraulic and pneumatic cylinders [4], angular position sensing for shaft rotation and wheel speed (in the gear box or for transmission [5]). They can also be employed for joystick position detection [6] as well as for more complex motion tracking of six degrees of freedom [7], which is exploited, for instance, in medical diagnostic applications [8].…”

Section: Introductionmentioning

confidence: 99%

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Computationally Efficient Magnetic Position System Calibration

Lumetti

Malagò

Spitzer

et al. 2020

7th International Electronic Conference on Sensors and Applications

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Properties such as high resolution, contactless (and thus wear-free) measurement, low power consumption, robustness against temperature and contamination as well as low cost make magnetic position and orientation systems appealing for a large number of industrial applications. Nevertheless, one major practical challenge is their sensitivity to fabrication tolerances. In this work, we propose a novel method for magnetic position system calibration based on the analytical computation of the magnetic field and on the application of an evolutionary optimization algorithm. This scheme enables the calibration of more than 10 degrees of freedom within few seconds on standard quad-core ×86 processors and is demonstrated by calibrating a highly cost-efficient 3D-printed 3-axis magnetic joystick.

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Section: Problem and Motivationmentioning

confidence: 99%

Section: Read-outmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Computationally Efficient Magnetic Position System Calibration

Lumetti

Malagò

Spitzer

et al. 2020

7th International Electronic Conference on Sensors and Applications

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“…Many scholars have focused on the distributed cooperative location network without central nodes. A distributed position (DP) method based on Taylor expansion is proposed in [28] to realize cooperative positioning, the computational complexity of which is lower than that of any other algorithm; however, in the process of Taylor expansion, the high-order terms are omitted, resulting in poor cooperative positioning accuracy. In [29], a cooperative positioning method based on the factor graph is proposed, which can effectively improve the positioning accuracy of cooperative nodes; however, a factor graph requires a long time for the calculation of the information interaction to be completed.…”

Section: Introductionmentioning

confidence: 99%

Geometric-Manifold-Assisted Distributed Navigation Probabilistic Information Fusion Cooperative Positioning Algorithm

et al. 2021

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Positioning information is the cornerstone of a new generation of electronic information technology applications represented by the Internet of Things and smart city. However, due to various environmental electromagnetic interference, building shielding, and other factors, the positioning source can fail. Cooperative positioning technology can realize the sharing of positioning information and make up for the invalid positioning source. When one node in the cooperative positioning network has error, the positioning stability of all nodes in the whole cooperative network will be significantly reduced, but the positioning probability information technology can effectively reduce the impact of mutation error. Based on this idea, this paper proposes an information-geometry-assisted distributed algorithm for probabilistic cooperative fusion positioning (IG-CP) of navigation information. The position information of different types of navigation sources is utilized to establish a probability density model, which effectively reduces the influence of a single position error on the whole cooperative position network. Combined with the nonlinear fitting characteristics of the information geometric manifold, mapping and fusion of the ranging information between cooperative nodes on the geometric manifold surface are conducted to achieve cooperative positioning, which can effectively improve the stability of the positioning results. The proposed algorithm is simulated and analyzed in terms of the node positioning error, ranging error, convergence speed, and distribution of the cooperative positioning network. The simulation results show that our proposed cooperative positioning algorithm can effectively improve the positioning stability and display better positioning performance.

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“…Coils are usually treated as magnetic dipoles. From a mathematical point of view, the actual localization is then performed by solving an inverse problem which is achieved by optimization algorithms like Levenberg-Marquardt [16] or unscented Kalman filter [17]. If multiple coils are supposed to be positioned at the same time, they can be tuned to different frequencies in order to separate their signals as shown in [18].…”

Section: Introductionmentioning

confidence: 99%

Localization of Passive 3-D Coils as an Inverse Problem: Theoretical Analysis and a Numerical Method

et al. 2020

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This article provides both a theoretical analysis and a numerical method for the inverse source problem of locating multiple passive 3-D coils based on measurements of their superposed magnetic fields. In our context, a 3-D coil consists of three concentric circular coils being mutually perpendicular, and the term "passive" means that these coils are not connected to an active power source. Instead, their current is induced externally by a low-frequency alternating magnetic field which is generated by a closed exciter wire. The underlying inductively coupled system is modeled with regard to the 3-D coils as magnetic dipoles and their localization is formulated as an inverse problem. Since its ill posedness mainly arises from strong sensitivity to observational noise, an approximate upper bound for the localization error is derived mathematically by linearization. The Levenberg-Marquardt algorithm is applied as a method for localization and modified for better performance as well as the ability to estimate the number of 3-D coils in the localization area. Our method is tested with simulated and real data in order to confirm its capability of locating up to three passive 3-D coils within the front of a wooden shelf surrounded by the exciter wire and eight rectangular loop antennas.

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A Hall-Sensor-Based Localization Method With Six Degrees of Freedom Using Unscented Kalman Filter

Cited by 25 publications

References 16 publications

Computationally Efficient Magnetic Position System Calibration

Computationally Efficient Magnetic Position System Calibration

Geometric-Manifold-Assisted Distributed Navigation Probabilistic Information Fusion Cooperative Positioning Algorithm

Localization of Passive 3-D Coils as an Inverse Problem: Theoretical Analysis and a Numerical Method

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