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oaioai:scholar.afit.edu:etd-3269

Aerial Simultaneous Localization and Mapping Using Earth\u27s Magnetic Anomaly Field

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Publication date
22 March 2019
Publisher
AFIT Scholar

Abstract

Aerial magnetic navigation has been shown to be a viable GPS-alternative, but requires a prior-surveyed magnetic map. The miniaturization of atomic magnetometers extends their application to small aircraft at low altitudes where magnetic maps are especially inaccurate or unavailable. This research presents a simultaneous localization and mapping (SLAM) approach to constrain the drift of an inertial navigation system (INS) without the need for a magnetic map. The filter was demonstrated using real measurements on a professional survey flight, and on an AFIT unmanned aerial vehicle

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AFTI Scholar (Air Force Institute of Technology)

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oaioai:scholar.afit.edu:etd-3269
Last time updated on 02/01/2020

This paper was published in AFTI Scholar (Air Force Institute of Technology).

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