Indoor self-localization using multiple magnetic sensors

Isaku Nagai, Jun Sakai, Keigo Watanabe

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This study proposes an indoor self-localization for the estimation of the position and posture of an instrument using multiple magnetic sensors. First, a magnetic map for the localization is efficiently created using multiple sensors and a local positioning device made from an optical sensor and a gyroscope. For the localization estimating trajectories, the measurement error of the local positioning is corrected by matching it with the magnetic map. Our instrument is composed of six magnetic sensors, and the description of the selflocalization details is based on the framework of a particle filter. The experimental results show better indoor path trajectories compared with a raw trajectory without map matching. The accuracy of the instrument using various numbers of magnetic sensors for the estimation is also investigated.

Original languageEnglish
Pages (from-to)203-211
Number of pages9
JournalJournal of Robotics and Mechatronics
Issue number2
Publication statusPublished - Apr 1 2019


  • Magnetic sensor
  • Mobile robot
  • Monte Carlo localization
  • Noncontact measurement
  • Optical sensor

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering


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