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Pregled bibliografske jedinice broj: 1107044

Close-Range Electromagnetic Tracking of Pulse Induction Search Coils for Subsurface Sensing


Ambruš, Davorin; Šimić, Marko; Vasić, Darko; Bilas, Vedran
Close-Range Electromagnetic Tracking of Pulse Induction Search Coils for Subsurface Sensing // IEEE transactions on instrumentation and measurement, PP (2021), 1-13 doi:10.1109/TIM.2021.3054011 (međunarodna recenzija, članak, znanstveni)


CROSBI ID: 1107044 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
Close-Range Electromagnetic Tracking of Pulse Induction Search Coils for Subsurface Sensing

Autori
Ambruš, Davorin ; Šimić, Marko ; Vasić, Darko ; Bilas, Vedran

Izvornik
IEEE transactions on instrumentation and measurement (0018-9456) PP (2021); 1-13

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Electromagnetic tracking, pose estimation, search coil, extended Kalman filter (EKF), tunneling magnetoresistance (TMR) sensor, subsurface sensing, electromagnetic induction (EMI)

Sažetak
In this paper, we investigate a specific search coil tracking problem arising from the use of electromagnetic induction (EMI) sensors to classify buried low metal objects. In the proposed approach, a moving search coil is used as a magnetic field beacon, two triaxial tunnel magnetoresistance sensors are used as anchors, and the extended Kalman filter (EKF) is used to estimate 5-degrees of freedom information on coil’s relative pose. A specific feature of the analyzed application is the pulsed beacon field and the coil’s size comparable to the tracking distance. To address the resulting near-field effects and improve the tracking accuracy, we include a rigorous analytical multi-loop model of the search coil into the EKF estimation algorithm and introduce a novel sensor calibration scheme. The system is experimentally validated in realistic dynamic conditions using handheld pulse induction metal detector as a beacon, and a laboratory-grade optical tracking system with declared sub-millimeter accuracy as a source of ground truth data. For a near-horizontal zigzag scan pattern within a volume of ~ 40 x 50 x 5 cm, our system yields mean absolute errors < 3 mm for the coil’s x and y-coordinates, < 2 mm for z- coordinates, and < 0.5° for the pitch and roll angles, making it a viable solution for pose- referenced EMI sensing.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Projekti:
HRZZ-IP-2016-06-8379 - Napredni senzorski sustavi za precizno navodnjavanje u krškom krajobrazu (SENSIRRIKA) (Bilas, Vedran, HRZZ - 2016-06) ( POIROT)
UIP-2017-05-6948 - Modeli i inverzne metode za elektromagnetske senzore u bliskom polju (MIMES) (Vasić, Darko, HRZZ - 2017-05) ( POIROT)

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Vedran Bilas (autor)

Avatar Url Davorin Ambruš (autor)

Avatar Url Darko Vasić (autor)

Citiraj ovu publikaciju

Ambruš, Davorin; Šimić, Marko; Vasić, Darko; Bilas, Vedran
Close-Range Electromagnetic Tracking of Pulse Induction Search Coils for Subsurface Sensing // IEEE transactions on instrumentation and measurement, PP (2021), 1-13 doi:10.1109/TIM.2021.3054011 (međunarodna recenzija, članak, znanstveni)
Ambruš, D., Šimić, M., Vasić, D. & Bilas, V. (2021) Close-Range Electromagnetic Tracking of Pulse Induction Search Coils for Subsurface Sensing. IEEE transactions on instrumentation and measurement, PP, 1-13 doi:10.1109/TIM.2021.3054011.
@article{article, year = {2021}, pages = {1-13}, DOI = {10.1109/TIM.2021.3054011}, keywords = {Electromagnetic tracking, pose estimation, search coil, extended Kalman filter (EKF), tunneling magnetoresistance (TMR) sensor, subsurface sensing, electromagnetic induction (EMI)}, journal = {IEEE transactions on instrumentation and measurement}, doi = {10.1109/TIM.2021.3054011}, volume = {PP}, issn = {0018-9456}, title = {Close-Range Electromagnetic Tracking of Pulse Induction Search Coils for Subsurface Sensing}, keyword = {Electromagnetic tracking, pose estimation, search coil, extended Kalman filter (EKF), tunneling magnetoresistance (TMR) sensor, subsurface sensing, electromagnetic induction (EMI)} }
@article{article, year = {2021}, pages = {1-13}, DOI = {10.1109/TIM.2021.3054011}, keywords = {Electromagnetic tracking, pose estimation, search coil, extended Kalman filter (EKF), tunneling magnetoresistance (TMR) sensor, subsurface sensing, electromagnetic induction (EMI)}, journal = {IEEE transactions on instrumentation and measurement}, doi = {10.1109/TIM.2021.3054011}, volume = {PP}, issn = {0018-9456}, title = {Close-Range Electromagnetic Tracking of Pulse Induction Search Coils for Subsurface Sensing}, keyword = {Electromagnetic tracking, pose estimation, search coil, extended Kalman filter (EKF), tunneling magnetoresistance (TMR) sensor, subsurface sensing, electromagnetic induction (EMI)} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


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