{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:55:53Z","timestamp":1760241353852,"version":"build-2065373602"},"reference-count":30,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2018,1,4]],"date-time":"2018-01-04T00:00:00Z","timestamp":1515024000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In recent years, a variety of real-time applications benefit from services provided by localization systems due to the advent of sensing and communication technologies. Since the Global Navigation Satellite System (GNSS) enables localization only outside buildings, applications for indoor positioning and navigation use alternative technologies. Ultra Wide Band Signals (UWB), Wireless Local Area Network (WLAN), ultrasonic or infrared are common examples. However, these technologies suffer from fading and multipath effects caused by objects and materials in the building. In contrast, magnetic fields are able to pass through obstacles without significant propagation errors, i.e. in Non-Line of Sight Scenarios (NLoS). The aim of this work is to propose a novel indoor positioning system based on artificially generated magnetic fields in combination with Inertial Measurement Units (IMUs). In order to reach a better coverage, multiple coils are used as reference points. A basic algorithm for three-dimensional applications is demonstrated as well as evaluated in this article. The established system is then realized by a sensor fusion principle as well as a kinematic motion model on the basis of a Kalman filter. Furthermore, a pressure sensor is used in combination with an adaptive filtering method to reliably estimate the platform\u2019s altitude.<\/jats:p>","DOI":"10.3390\/s18010126","type":"journal-article","created":{"date-parts":[[2018,1,4]],"date-time":"2018-01-04T11:52:47Z","timestamp":1515066767000},"page":"126","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Accurate 3D Positioning for a Mobile Platform in Non-Line-of-Sight Scenarios Based on IMU\/Magnetometer Sensor Fusion"],"prefix":"10.3390","volume":"18","author":[{"given":"Hendrik","family":"Hellmers","sequence":"first","affiliation":[{"name":"Institut f\u00fcr Geod\u00e4sie, Technische Universit\u00e4t Darmstadt, FG Geod\u00e4tische Messsysteme und Sensorik, Franziska-Braun-Stra\u00dfe 7, 64287 Darmstadt, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2014-5683","authenticated-orcid":false,"given":"Zakaria","family":"Kasmi","sequence":"additional","affiliation":[{"name":"Department of Mathematics and Computer Science, Freie Universit\u00e4t Berlin, Takustra\u00dfe 9, 14195 Berlin, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6809-8329","authenticated-orcid":false,"given":"Abdelmoumen","family":"Norrdine","sequence":"additional","affiliation":[{"name":"Institut f\u00fcr Baubetrieb, Technische Universit\u00e4t Darmstadt, El-Lissitzky-Stra\u00dfe 1, 64287 Darmstadt, Germany"}]},{"given":"Andreas","family":"Eichhorn","sequence":"additional","affiliation":[{"name":"Institut f\u00fcr Geod\u00e4sie, Technische Universit\u00e4t Darmstadt, FG Geod\u00e4tische Messsysteme und Sensorik, Franziska-Braun-Stra\u00dfe 7, 64287 Darmstadt, Germany"}]}],"member":"1968","published-online":{"date-parts":[[2018,1,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"473","DOI":"10.1109\/TRPMS.2017.2756674","article-title":"Pushing the limits in Time-Of-Flight PET imaging","volume":"1","author":"Lecoq","year":"2017","journal-title":"IEEE Trans. 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