Abstract
Magnetic sensors provide an advantageous alternative localization method, primarily focusing on localization in surroundings where GPS, other radio frequency-based, as well as optical localization do not work or has severe limitations. Suitable for distances in the meter range, such magnetic localization may in particular be useful as artificial landmarks, e.g., for automatic drift correction. To easily use such artificial landmarks, we propose an integration process based on Transducer Electronic Data Sheets. With this approach, the landmarks can be used by passing autonomous vehicles, e.g., UAVs, for re-orientation and re-calibration. During this process, all necessary information such as data formats, reference coordinates, calibration data, provider of the landmark etc. is made known to the vehicle passing by. Based on the provided so-called meta-information, the vehicle itself can decide whether and how to use the provided sensory information. To provide a certain level of trust in the landmarks and their provided information, the corresponding data sheets are certified using a digital signature.
Highlights
Localization of autonomous vehicles in general and unmanned aerial vehicles (UAVs) in particular, is a complex topic, which, among other factors, strongly depends on the current environment.Common Radio Frequency (RF) approaches using frequencies in the gigahertz range, such as the global positioning system (GPS), work best in open spaces, but show significant deficiencies in buildings and environments
This paper investigates the use of near field magnetic sensors working in the low radio frequency domain to determine three degrees of freedom
(3DOF) as artificial landmarks for localization. Such a magnetic system provides advantages since it is robust with multi-path propagation interference and the localization can be facilitated without the necessity of vision based on cameras or other optical sensors
Summary
Localization of autonomous vehicles in general and unmanned aerial vehicles (UAVs) in particular, is a complex topic, which, among other factors, strongly depends on the current environment. This paper investigates the use of near field magnetic sensors working in the low radio frequency domain to determine three degrees of freedom (3DOF) as artificial landmarks for localization Such a magnetic system provides advantages since it is robust with multi-path propagation interference and the localization can be facilitated without the necessity of vision based on cameras or other optical sensors. A system which works even in foggy environments as it uses highly reflective landmarks in conjunction with a laser sensor can be found in [7] This approach still has the problem that no obstacles are allowed between the landmark and the mobile robotic platform which is not the case in the proposed system as it works in the low rf spectrum and can penetrate a large range of materials.
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