A novel multi-sensor integrated localization method based on triggered magnetic correction

Abstract In response to the challenges posed by existing integrated localization schemes in global navigation satellite system-denied scenarios, such as the reliance on prior high-precision maps and inadequate flexibility of localization paths, this paper presents an integrated localization method employing triggered magnetic correction. This method leverages the inertial measurement unit to assist both the camera and the light detection and ranging systems, functioning as a relative positioning subsystem to compensate for precision loss in the blind zones of magnetic landmark signals. By integrating magnetic guidance sensor and radio frequency identification tags, triggered magnetic correction has been successfully implemented, providing high-precision global information constraints. An enhanced multimodal data fusion algorithm has been designed based on a dual-level filtering architecture, integrating relative and absolute positioning. The experimental results of the free-path scenario demonstrate that the average positional error for the full path is 2.94 cm, and the average angular error is 0.63°. Compared to results without magnetic correction, the average positional error and average angular error decrease by 68.53% and 64.99%, respectively. These results confirm the feasibility and effectiveness of the proposed method.