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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.

Comparison with a pure standalone INS

Groudtruth Pure INS Magnetic-field aided INS
The red line shows the RMSE of the filter estimate, the dashed line shows the RMSE of the filter estimate without magnetic-field aiding.

Run simulation

  1. create a folder figures
  2. run main.m