Analysis of simultaneous 3D positioning and attitude estimation of a planar coil using inductive coupling

In this paper, simultaneous estimation of 3D position and attitude of a single coil using a set of anchors, with known position and magnetic dipole, is analyzed. Effect of noise and geometric properties of the anchors' constellation is considered. Several parameters are analyzed and discussed, including placement of anchors in a single or in multiple orthogonal planes. It is shown that adding space and orientation diversity anchors may lead to a more robust performance when the mobile node attitude changes in time.