Abstract
This study proposes an enhanced algorithm design and comparative performance analysis of the positioning system based on the concurrent AC magnetic fields. For this, a new approximated field representation model with respect to the circular magnetic coil is developed for achieving on-board algorithm implementation. In the existing researches, the magnetic positioning is usually implemented by the dipole model even though they employ circular coils. Despite the model simplicity, the dipole model suffers typically from the significant representation model deviation from actual magnetic measurement near the transmitter coil area. To overcome this, more complicated but computationally comparable formula is employed, which can reflect effectively the dimensional field distribution characteristics of the magnetic coil. This study also investigates a real-time implementation of the proposed method. Considering the computing performance of the microprocessor, the on-board algorithm is developed considering its calculation speed and memory usage. As a result, the real-time result achieved millimeters level difference compared with the post processing result using full computing power. In experimental validation, a reference optical positioning system providing a sub-millimeter accuracy is employed for evaluating the on-board real-time results during dynamic trajectory tests. The result presents an enhanced estimation error around full operational range compared with the other representation models, which specifically demonstrates centimeters level error in positioning and about 3 degree heading error within operation range.
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This research was supported by the Sejong Fellowship Program (NRF-2022R1C1C2009014), the Basic Research Program (NRF-2022R1A2C1005237), and the Unmanned Vehicles Core Technology Research and Development Program (NRF-2020M3C1C1A01086408) funded by the Korean National Research Fund.
Byungjin Lee received his B.S. and Ph.D. degrees in aerospace engineering from Konkuk University, Seoul, Korea, in 2010 and 2017, respectively. He used to work for the Defense Agency for Technology and Quality, Korea. He has been continuing his research as a Research Professor at Konkuk University since 2020. His research interests include development of navigation and control system for unmanned vehicles, and he is currently expanding his area to sensor-level navigation systems.
Juhwan Lee received his B.S. and M.S. degrees in aerospace information engineering from Konkuk University, Seoul, Korea, in 2015 and 2017, respectively, where he is currently pursuing a Ph.D. degree. His research interests include high-spinning objects pose estimation, sensor fusion, navigation and coupled systems, inertial sensors, and sports fusion embedded systems.
Sangkyung Sung received his B.S. and Ph.D. degrees in electrical engineering from Seoul National University, Seoul, Korea, in 1996 and 2003, respectively. He worked for Samsung Electronics Co. Ltd., as a senior engineer before joining Konkuk University. Currently, he is a Professor of the Department of Aerospace Information Engineering at Konkuk University, Seoul, Korea. His research interests include inertial sensor, integrated navigation algorithm, sensor fusion, embedded software, and application to mechatronics and unmanned autonomous systems.
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Lee, B., Lee, J. & Sung, S. Comparative Performance Analysis of AC Magnetic Positioning Algorithms With Realtime Implementation Environment. Int. J. Control Autom. Syst. 22, 265–275 (2024). https://doi.org/10.1007/s12555-022-0966-y
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DOI: https://doi.org/10.1007/s12555-022-0966-y