Research on Geomagnetism Navigation and Localization Based on SLAM

摘要

Actual algorithm of geomagnetism matching guidance typically acquires a high precision geomagnetic map as a necessary reference which however is actually very difficult to be obtained because of many factors.For a realization of geomagnetism navigation and localization independent of a reference map,with careful study of techniques applied in robots and submarines,a navigation and localization method with simultaneous localization and mapping(SLAM) that suits for the characteristics of geomagnetic field is presented and the relative key techniques of geomagnetism navigation and localization based on SLAM are researched.