Date of Award
3-22-2019
Document Type
Thesis
Degree Name
Master of Science in Electrical Engineering
Department
Department of Electrical and Computer Engineering
First Advisor
Aaron J. Canciani, PhD
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.
AFIT Designator
AFIT-ENG-MS-19-M-039
DTIC Accession Number
AD1075642
Recommended Citation
Lee, Taylor N., "Aerial Simultaneous Localization and Mapping Using Earth's Magnetic Anomaly Field" (2019). Theses and Dissertations. 2268.
https://scholar.afit.edu/etd/2268