Magnetic Field Aided Inertial Navigation

Magnetic field aided inertial navigation (MAINS) systems improve the accuracy and reliability of inertial navigation by integrating measurements from magnetometers with inertial sensors (like accelerometers and gyroscopes). Current research focuses on optimizing algorithms, such as extended Kalman filters and polynomial optimization methods, to fuse these diverse data sources effectively, addressing challenges like inconsistent yaw estimation and handling magnetic field distortions in indoor environments. These advancements are significant because they enable more precise and robust localization, particularly in GPS-denied areas, with applications ranging from robotics and autonomous vehicles to augmented reality and indoor mapping.