An Observability-Constrained Magnetic-Field-Aided Inertial Navigation System

Description

This repository contains the implementation of the OC-MAINS algorithm for the paper An Observability-Constrained Magnetic-Field-Aided Inertial Navigation System. The algorithm aims to solve the inconsistent estimate of the yaw in the MAINS.

Run main_simulation.m to see the results of the simulation.

Run main_realexp.m to see the results of the real data experiment.

Name		Name	Last commit message	Last commit date
Latest commit History 2 Commits
common		common
config		config
data		data
magfield		magfield
plotfunctions		plotfunctions
LICENSE.txt		LICENSE.txt
PosMagArray.m		PosMagArray.m
README.md		README.md
SO3_exp.m		SO3_exp.m
calculate_opt_q.m		calculate_opt_q.m
compare_error.m		compare_error.m
compute_MSE_NEES.m		compute_MSE_NEES.m
compute_stats.m		compute_stats.m
dbtheta_dpsi1.m		dbtheta_dpsi1.m
dbtheta_dpsi2.m		dbtheta_dpsi2.m
dbtheta_dpsi3.m		dbtheta_dpsi3.m
get_ABnull.m		get_ABnull.m
magaidedINS.m		magaidedINS.m
main_realexp.m		main_realexp.m
main_simulation.m		main_simulation.m
ploterror.m		ploterror.m
polyMagModel.m		polyMagModel.m
readConfig.m		readConfig.m
real_trajectory.jpg		real_trajectory.jpg
state_space_model.m		state_space_model.m
state_space_model_null_final.m		state_space_model_null_final.m
viewresult.m		viewresult.m