Analysis of simultaneous 3D positioning and attitude estimation of a planar coil using inductive coupling

TL;DR

This paper investigates a method for accurately estimating the 3D position and orientation of a coil using magnetic inductive coupling with multiple anchors, considering noise effects and anchor placement strategies.

Contribution

It introduces an analysis of how anchor placement and diversity affect the robustness and accuracy of simultaneous 3D positioning and attitude estimation.

Findings

Adding space and orientation diversity anchors improves robustness.

Anchor placement in multiple orthogonal planes enhances estimation accuracy.

Noise impacts the precision of the position and attitude estimates.

Abstract

In this paper, simultaneous estimation of 3D position and attitude of a single coil using a set of anchors, with known position and magnetic dipole, is analyzed. Effect of noise and geometric properties of the anchors' constellation is considered. Several parameters are analyzed and discussed, including placement of anchors in a single or in multiple orthogonal planes. It is shown that adding space and orientation diversity anchors may lead to a more robust performance when the mobile node attitude changes in time.