Development of magnetic sensor based local pose component for JAUS compliant system

In this study, we developed a JAUS-compliant Local Pose Component based on a magnetic sensor, which enables absolute positioning and heading angle of a mobile robot. In order to detect magnetic north regardless of the influence from other magnetic structures, we employed a gyro sensor and GPS to compensate absolute positioning and heading by applying the proposed complex-type Kalman filter. The proposed algorithm is implemented as JAUS Local Pose Component that is documented in the SAE JAUS AS6009 Mobility Service Set. The developed JAUS Local Pose Component enables enhanced interoperability. The validity of the proposed Local Pose Component was verified using an actual mobile robot under an outdoor environment.