magnetic-field-odometry

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magnetic-field-odometry

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Magnetic-Field aided Inertial Navigation System

magnetic-field-odometry 최신버젼 다운로드

최종 버전 다운로드 (.zip)

// repository documentation

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# Magnetic-Field aided Inertial Navigation System

This repo implements a magnetic-Field aided inertial navigation system as in paper [A Tightly-Integrated Magnetic-Field aided Inertial
Navigation System](https://www.researchgate.net/publication/360672526_A_Tightly-Integrated_Magnetic-Field_aided_Inertial_Navigation_System).

## Comparison with a pure standalone INS
Groudtruth             |  Pure INS  | Magnetic-field aided INS
:-------------------------:|:-------------------------:|:-------------------------:
![](https://raw.githubusercontent.com/Huang-Chuan/magnetic-field-odometry/main/Groundtruth.gif)  |  ![](https://raw.githubusercontent.com/Huang-Chuan/magnetic-field-odometry/main/MagNoAid.gif) | ![](https://raw.githubusercontent.com/Huang-Chuan/magnetic-field-odometry/main/MagAid.gif)

|![](https://raw.githubusercontent.com/Huang-Chuan/magnetic-field-odometry/main/comparison.png)
|:--:|
| <b>The red line shows the RMSE of the filter estimate, the dashed line shows the RMSE of the filter estimate without magnetic-field aiding.</b>|

## Run simulation
1. create a folder `figures` 
2. run `main.m`

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