Steel studs, HVAC systems, rebar, and many other building components produce spatially varying magnetic fields. Magnetometers can measure these fields and can be used in combination with inertial sensors for indoor positioning of robots and of handheld devices like smartphones. Current methods of localization and mapping with magnetometers are often based on the simplifying assumption that magnetic fields do not vary with height.

DOI Link: 
10.21227/t881-7581
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The Impact of Height on Indoor Positioning with Magnetic Fields
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[1] David Hanley, Augusto S. Dantas de Oliveira, Xiangyuan Zhang, Dae Hyun Kim, Yusheng Wei, Timothy Bretl, "The Impact of Height on Indoor Positioning with Magnetic Fields", IEEE Dataport, 2020. [Online]. Available: http://dx.doi.org/10.21227/t881-7581. Accessed: Jan. 15, 2025.
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author = {David Hanley; Augusto S. Dantas de Oliveira; Xiangyuan Zhang; Dae Hyun Kim; Yusheng Wei; Timothy Bretl },
publisher = {IEEE Dataport},
title = {The Impact of Height on Indoor Positioning with Magnetic Fields},
year = {2020} }
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T1 - The Impact of Height on Indoor Positioning with Magnetic Fields
AU - David Hanley; Augusto S. Dantas de Oliveira; Xiangyuan Zhang; Dae Hyun Kim; Yusheng Wei; Timothy Bretl
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David Hanley, Augusto S. Dantas de Oliveira, Xiangyuan Zhang, Dae Hyun Kim, Yusheng Wei, Timothy Bretl. (2020). The Impact of Height on Indoor Positioning with Magnetic Fields. IEEE Dataport. http://dx.doi.org/10.21227/t881-7581
David Hanley, Augusto S. Dantas de Oliveira, Xiangyuan Zhang, Dae Hyun Kim, Yusheng Wei, Timothy Bretl, 2020. The Impact of Height on Indoor Positioning with Magnetic Fields. Available at: http://dx.doi.org/10.21227/t881-7581.
David Hanley, Augusto S. Dantas de Oliveira, Xiangyuan Zhang, Dae Hyun Kim, Yusheng Wei, Timothy Bretl. (2020). "The Impact of Height on Indoor Positioning with Magnetic Fields." Web.
1. David Hanley, Augusto S. Dantas de Oliveira, Xiangyuan Zhang, Dae Hyun Kim, Yusheng Wei, Timothy Bretl. The Impact of Height on Indoor Positioning with Magnetic Fields [Internet]. IEEE Dataport; 2020. Available from : http://dx.doi.org/10.21227/t881-7581
David Hanley, Augusto S. Dantas de Oliveira, Xiangyuan Zhang, Dae Hyun Kim, Yusheng Wei, Timothy Bretl. "The Impact of Height on Indoor Positioning with Magnetic Fields." doi: 10.21227/t881-7581