A game-theoretic approach for calibration of low-cost magnetometers under noise uncertainty
Identifieur interne : 001330 ( Main/Exploration ); précédent : 001329; suivant : 001331A game-theoretic approach for calibration of low-cost magnetometers under noise uncertainty
Auteurs : S. Siddharth [Canada] ; A S Ali [Canada] ; N. El-Sheimy [Canada] ; C L Goodall [Canada] ; Z F Syed [Canada]Source :
- Measurement Science and Technology [ 0957-0233 ] ; 2012-02.
Abstract
Pedestrian heading estimation is a fundamental challenge in Global Navigation Satellite System (GNSS)-denied environments. Additionally, the heading observability considerably degrades in low-speed mode of operation (e.g. walking), making this problem even more challenging. The goal of this work is to improve the heading solution when hand-held personalportable devices, such as cell phones, are used for positioning and to improve the heading estimation in GNSS-denied signal environments. Most smart phones are now equipped with self-contained, low cost, small size and power-efficient sensors, such as magnetometers, gyroscopes and accelerometers. A magnetometer needs calibration before it can be properly employed for navigation purposes. Magnetometers play an important role in absolute heading estimation and are embedded in many smart phones. Before the users navigate with the phone, a calibration is invoked to ensure an improved signal quality. This signal is used later in the heading estimation. In most of the magnetometer-calibration approaches, the motion modes are seldom described to achieve a robust calibration. Also, suitable calibration approaches fail to discuss the stopping criteria for calibration. In this paper, the following three topics are discussed in detail that are important to achieve proper magnetometer-calibration results and in turn the most robust heading solution for the user while taking care of the device misalignment with respect to the user (a) game-theoretic concepts to attain better filter parameter tuning and robustness in noise uncertainty, (b) best maneuvers with focus on 3D and 2D motion modes and related challenges and (c) investigation of the calibration termination criteria leveraging the calibration robustness and efficiency.
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DOI: 10.1088/0957-0233/23/2/025003
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Additionally, the heading observability considerably degrades in low-speed mode of operation (e.g. walking), making this problem even more challenging. The goal of this work is to improve the heading solution when hand-held personalportable devices, such as cell phones, are used for positioning and to improve the heading estimation in GNSS-denied signal environments. Most smart phones are now equipped with self-contained, low cost, small size and power-efficient sensors, such as magnetometers, gyroscopes and accelerometers. A magnetometer needs calibration before it can be properly employed for navigation purposes. Magnetometers play an important role in absolute heading estimation and are embedded in many smart phones. Before the users navigate with the phone, a calibration is invoked to ensure an improved signal quality. This signal is used later in the heading estimation. In most of the magnetometer-calibration approaches, the motion modes are seldom described to achieve a robust calibration. Also, suitable calibration approaches fail to discuss the stopping criteria for calibration. In this paper, the following three topics are discussed in detail that are important to achieve proper magnetometer-calibration results and in turn the most robust heading solution for the user while taking care of the device misalignment with respect to the user (a) game-theoretic concepts to attain better filter parameter tuning and robustness in noise uncertainty, (b) best maneuvers with focus on 3D and 2D motion modes and related challenges and (c) investigation of the calibration termination criteria leveraging the calibration robustness and efficiency.</div></front></TEI><affiliations><list><country><li>Canada</li></country><region><li>Alberta</li></region><settlement><li>Calgary</li></settlement><orgName><li>Université de Calgary</li></orgName></list><tree><country name="Canada"><region name="Alberta"><name sortKey="Siddharth, S" sort="Siddharth, S" uniqKey="Siddharth S" first="S" last="Siddharth">S. Siddharth</name></region><name sortKey="Ali, A S" sort="Ali, A S" uniqKey="Ali A" first="A S" last="Ali">A S Ali</name><name sortKey="El Sheimy, N" sort="El Sheimy, N" uniqKey="El Sheimy N" first="N" last="El-Sheimy">N. El-Sheimy</name><name sortKey="Goodall, C L" sort="Goodall, C L" uniqKey="Goodall C" first="C L" last="Goodall">C L Goodall</name><name sortKey="Siddharth, S" sort="Siddharth, S" uniqKey="Siddharth S" first="S" last="Siddharth">S. Siddharth</name><name sortKey="Syed, Z F" sort="Syed, Z F" uniqKey="Syed Z" first="Z F" last="Syed">Z F Syed</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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