{"title":"Simultaneous Localization and Calibration (SLAC) Methods for a Train-Mounted Magnetometer","authors":"B. Siebler, A. Lehner, S. Sand, U. Hanebeck","doi":"10.33012/navi.557","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":56075,"journal":{"name":"Navigation-Journal of the Institute of Navigation","volume":null,"pages":null},"PeriodicalIF":3.1000,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Navigation-Journal of the Institute of Navigation","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.33012/navi.557","RegionNum":3,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}
引用次数: 1
Abstract
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.
期刊介绍：
NAVIGATION is a quarterly journal published by The Institute of Navigation. The journal publishes original, peer-reviewed articles on all areas related to the science, engineering and art of Positioning, Navigation and Timing (PNT) covering land (including indoor use), sea, air and space applications. PNT technologies of interest encompass navigation satellite systems (both global and regional), inertial navigation, electro-optical systems including LiDAR and imaging sensors, and radio-frequency ranging and timing systems, including those using signals of opportunity from communication systems and other non-traditional PNT sources. Articles about PNT algorithms and methods, such as for error characterization and mitigation, integrity analysis, PNT signal processing and multi-sensor integration, are welcome. The journal also accepts articles on non-traditional applications of PNT systems, including remote sensing of the Earth’s surface or atmosphere, as well as selected historical and survey articles.
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