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IMag+: An Accurate and Rapidly Deployable Inertial Magneto-Inductive SLAM System

Lookup NU author(s): Dr Bo WeiORCiD



This is the authors' accepted manuscript of an article that has been published in its final definitive form by Institute of Electrical and Electronics Engineers Inc., 2022.

For re-use rights please refer to the publisher's terms and conditions.


© 2002-2012 IEEE.Localisation is an important part of many applications. Our motivating scenarios are short-term construction work and emergency rescue. These scenarios also require rapid setup and robustness to environmental conditions additional to localisation accuracy. These requirements preclude the use of many traditional high-performance methods, e.g., vision-based, laser-based, Ultra-wide band (UWB) and Global Positioning System (GPS)-based localisation systems. To overcome these challenges, we introduce iMag+, an accurate and rapidly deployable inertial magneto-inductive (MI) mapping and localisation system, which only requires monitored workers to carry a single MI transmitter and an inertial measurement unit in order to localise themselves with minimal setup effort. However, one major challenge is to use distorted and ambiguous MI location estimates for localisation. To solve this challenge, we propose a novel method to use MI devices for sensing environmental distortions for accurate closing inertial loops. We also suggest a robust and efficient first quadrant estimator to sanitise the ambiguous MI estimates. By applying robust simultaneous localisation and mapping (SLAM), our proposed localisation method achieves excellent tracking accuracy and can improve performance significantly compared with only using a Magneto-inductive device or inertial measurement unit (IMU) for localisation.

Publication metadata

Author(s): Wei B, Trigoni N, Markham A

Publication type: Article

Publication status: Published

Journal: IEEE Transactions on Mobile Computing

Year: 2022

Volume: 21

Issue: 10

Pages: 3644-3655

Print publication date: 01/10/2022

Online publication date: 04/03/2021

Acceptance date: 24/02/2021

Date deposited: 19/06/2023

ISSN (print): 1536-1233

ISSN (electronic): 1558-0660

Publisher: Institute of Electrical and Electronics Engineers Inc.


DOI: 10.1109/TMC.2021.3062813


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Funder referenceFunder name
Innovate UK Tracksafe (Project 102033)