Simultaneous localization and mapping method for geomagnetic aided navigation

摘要

In this paper, a geomagnetic correcting navigation method is developed inspired by the simultaneous localization and mapping method, which can greatly improve the positioning precision, and helps to improve the mapping accuracy. The geomagnetic characteristic information on navigation path was analyzed during the navigation. The error models of simultaneous localization and mapping method combined with inertial navigation system were described to help developing Kalman filter. Simulations based on the actual geomagnetic reference map have been performed for the validation of the proposed algorithm. The method's feasibility is further demonstrated by analysis of optimal segment length using Monte Carlo simulation.