TY - BOOK ID - 147810999 TI - On Indoor Localization Using Magnetic Field-Aided Inertial Navigation Systems. PY - 2024 SN - 9789180757843 9789180757836 PB - Linköping : Linkopings Universitet, DB - UniCat KW - Indoor positioning systems (Wireless localization) KW - Magnetic fields. KW - Magnetic fields UR - https://www.unicat.be/uniCat?func=search&query=sysid:147810999 AB - This thesis explores the development of indoor localization systems using magnetic field-aided inertial navigation. It focuses on using spatial variations in indoor magnetic fields to provide accurate positioning information without the need for pre-installed infrastructure. The research addresses three core challenges: sensor calibration, creating a magnetic field model, and designing a state estimation algorithm. The proposed system integrates a planar magnetometer array with an inertial measurement unit to capture magnetic field variations and aid navigation. The system's effectiveness is demonstrated through simulations and real-world testing, showcasing reduced position drift and improved consistency. This work contributes to advancements in indoor localization technologies, particularly for autonomous systems and robotics. ER -