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Characterization of Planar-Intensity Based Heading Likelihood Functions in Magnetically Disturbed Indoor Environments

Khider, Mohammed and Robertson , Patrick and Frassl, Martin and Angermann, Michael and Bruno, Luigi and Garcia Puyol, Maria and Munoz Diaz, Estefania and Heirich, Oliver (2013) Characterization of Planar-Intensity Based Heading Likelihood Functions in Magnetically Disturbed Indoor Environments. IPIN 2013, 28-31 Oct 2013, Montbeliard, France.

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Heading information is a critical input to pedestrian dead reckoning. Unlike in most outdoor environments, the magnetic field inside of buildings is often strongly perturbed and inhomogeneous. Hence, straightforward approaches to use measurements of two-axis and three-axis magnetometers perform poorly. In recent measurements we have observed statistical properties of the magnetic field indicating that knowledge of the measured horizontal magnetic intensity is informative about the expected deviation of the measured magnetic heading. This statistical dependence has been quantified based on indoor measurements that have been collected in several offices and corridors in 3 buildings having different building orientations. A decrease in the spread of the horizonal angle is exhibited for larger horizontal intensities suggesting that measurements with large horizontal intensities are more reliable. We provide an approach to determine a likelihood function for the measured magnetic heading as a function of the local magnetic intensity in indoor environments. We show how the Expectation Maximization (EM) algorithm is used to construct a parametric two dimensional distribution of heading and planar-intensity, which can serve as a heading likelihood function in Bayesian positioning estimators, based upon which, greater weight is given to the less disturbed (strong-intensity) heading measurements and lower weight to the more erroneous ones (low-intensity). Drawing on our empirical data we show the performance improvement achieved with this new likelihood function.

Item URL in elib:https://elib.dlr.de/85021/
Document Type:Conference or Workshop Item (Speech)
Title:Characterization of Planar-Intensity Based Heading Likelihood Functions in Magnetically Disturbed Indoor Environments
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Khider, Mohammedmohammed.khider (at) dlr.deUNSPECIFIED
Robertson , Patrickpatrick.robertson (at) dlr.deUNSPECIFIED
Frassl, Martinmartin.frassl (at) dlr.deUNSPECIFIED
Angermann, Michaelmichael.angermann (at) dlr.deUNSPECIFIED
Bruno, Luigiluigi.bruno (at) dlr.deUNSPECIFIED
Garcia Puyol, Mariamaria.garciapuyol (at) dlr.deUNSPECIFIED
Munoz Diaz, EstefaniaEstefania.MunozDiaz-Ropero (at) dlr.deUNSPECIFIED
Heirich, Oliveroliver.heirich (at) dlr.deUNSPECIFIED
Date:October 2013
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Indoor Positioning, Magnetic Navigation, Compass, Sequential Bayesian Filters, Particle Filtering
Event Title:IPIN 2013
Event Location:Montbeliard, France
Event Type:international Conference
Event Dates:28-31 Oct 2013
Organizer:University of Franche-Comte
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Verläßliche Navigation (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Khider, Mohammed
Deposited On:04 Nov 2013 10:49
Last Modified:08 May 2014 23:29

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