FlightMagNav: 屋外地磁気測位のためのオープンデータセットと確率的マップ学習・検証フレームワーク
FlightMagNav: An Open Dataset and Probabilistic Map Learning and Validation Framework for Outdoor Magnetic Field-Based Positioning
ドローンに量子磁力計とGNSS/INSを搭載して収集した磁気測位用オープンデータセットを公開し、磁場マップの学習・検証のための確率的フレームワークを提案した。
著者: Isaac Skog, Miguel Ramos Galrinho, Martin Gelin
分類: eess.SP, cs.RO
原文アブストラクト
Magnetic field-based positioning is a resilient positioning technology that requires no external infrastructure and is hard to jam at scale. To facilitate research on magnetic field-based positioning for aerial platforms operating close to the Earth's surface, an open dataset is presented with measurements collected using an unmanned aerial vehicle carrying two optically pumped magnetometers, a type of quantum magnetometer, and a global navigation satellite system-aided inertial navigation system. The dataset includes measurements for both magnetic-field map learning and validation. Along with the dataset, a probabilistic framework for magnetic-field map learning and validation is presented and used to illustrate how the dataset may be used. Finally, we outline research directions that may be explored using the dataset.