RT Journal Article
SR Electronic
T1 Simultaneous Localization and Calibration (SLAC) Methods for a Train-Mounted Magnetometer
JF NAVIGATION: Journal of the Institute of Navigation
JO NAVIGATION
FD Institute of Navigation
SP navi.557
DO 10.33012/navi.557
VO 70
IS 1
A1 Siebler, Benjamin
A1 Lehner, Andreas
A1 Sand,, Stephan
A1 Hanebeck, Uwe D.
YR 2023
UL https://navi.ion.org/content/70/1/navi.557.abstract
AB Magnetic field localization is based on the fact that the Earth’s magnetic field is distorted in the vicinity of ferromagnetic objects. When ferromagnetic objects are in fixed positions, the distortions are also fixed and, thus, contain location information. In our prior work, we proposed a simultaneous localization and calibration (SLAC) algorithm based on a Rao-Blackwellized particle filter that enables magnetic train localization using only uncalibrated magnetometer measurements. In this paper, a lower-complexity version of the SLAC algorithm is proposed that only estimates a subset of calibration parameters. An evaluation compares the full and reduced SLAC approach to a particle filter in which the magnetometer is pre-calibrated with a fixed set of parameters. The results show a clear advantage for both SLAC approaches and that the SLAC algorithm with a reduced set of calibration parameters achieves the same performance as the one with a full set of parameters.