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公开(公告)号：US11536554B2
公开(公告)日：2022-12-27
申请号：US16234160
申请日：2018-12-27
发明人： Sheng-Wen Luo , Shih-Ho Hsieh , Jwu-Sheng Hu
摘要： A localization and attitude estimation method using magnetic fields includes the following steps. First, in three-dimensional coordinates, at least three magnetic landmarks arbitrarily disposed around a moving carrier are selected, wherein any two of the at least three magnetic landmarks have different magnetic directions. One set of at least five tri-axes magnetic sensors is used to sense the magnetic fields of the at least three magnetic landmarks. Three magnetic components on three axes of a current position of each of the tri-axes magnetic sensors are respectively generated by a demagnetization method. Five non-linear magnetic equations are solved to obtain position information and magnetic moment information of the at least three magnetic landmarks in the three-dimensional coordinates. Position vectors and attitude vectors of the set of at least five tri-axes magnetic sensors in a three-dimensional space are estimated based on tri-axes magnetic moment vectors of the magnetic landmarks.
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公开(公告)号：US20200149862A1
公开(公告)日：2020-05-14
申请号：US16234160
申请日：2018-12-27
发明人： Sheng-Wen Luo , Shih-Ho Hsieh , Jwu-Sheng Hu
摘要： A localization and attitude estimation method using magnetic fields includes the following steps. First, in three-dimensional coordinates, at least three magnetic landmarks arbitrarily disposed around a moving carrier are selected, wherein any two of the at least three magnetic landmarks have different magnetic directions. One set of at least five tri-axes magnetic sensors is used to sense the magnetic fields of the at least three magnetic landmarks. Three magnetic components on three axes of a current position of each of the tri-axes magnetic sensors are respectively generated by a demagnetization method. Five non-linear magnetic equations are solved to obtain position information and magnetic moment information of the at least three magnetic landmarks in the three-dimensional coordinates. Position vectors and attitude vectors of the set of at least five tri-axes magnetic sensors in a three-dimensional space are estimated based on tri-axes magnetic moment vectors of the magnetic landmarks.
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