High-Accuracy Wireless 6DOF Magnetic Tracking System Based on FEM Modeling

摘要

This paper presents a wireless magnetic tracking system using FEM simulation for building an analytical model that correlates a measured magnetic flux density with estimated sensor coordinates. A 6DOF concept system is realized through the integration of Madgwick's IMU-based orientation estimator. The system can be embedded in a high-performance microcontroller allowing for low-cost high accuracy wireless wearable tracking systems built with off-the-shelf components. A first prototype proves the concept feasibility through a static accuracy test using a VICON motion tracking system as ground truth. The prototype provides a spatial RMSE of 6.5 mm inside a volume of 36 cm ×20 cm ×12 cm.