Aerial Simultaneous Localization and Mapping Using Earth's Magnetic Anomaly Field

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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Document Details

Document Type
Technical Report
Publication Date
Mar 21, 2019
Accession Number
AD1075642

Entities

People

  • Taylor N Lee

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Advanced Electronics
  • Air Platforms
  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Air Force
  • Aircraft Equipment
  • Aircrafts
  • Airframes
  • Autonomous Underwater Vehicles
  • Computational Science
  • Department Of Defense
  • Global Navigation Satellite Systems
  • Global Positioning Systems
  • Inertial Navigation
  • Inertial Navigation Systems
  • Kalman Filters
  • Measurement
  • Navigation
  • Simultaneous Localization And Mapping
  • Unmanned Aerial Systems
  • Unmanned Aerial Vehicles

Readers

  • Computational Modeling and Simulation
  • Inertial Navigation Systems.
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • Autonomy
  • Space