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Further results on the observability in magneto-inertial navigation

Abstract : This paper shows that one can relax an important assumption usually formulated to employ the magneto-inertial navigation (MINAV) technique. This technique, which allows to reconstruct the velocity of a rigid body moving in a magnetically disturbed area, usually assumes that the (unknown) Jacobian of the magnetic field is everywhere non-singular. As it is here demonstrated, this assumption can be significantly alleviated thanks to further investigations on the observability of the dynamics at stake. Corresponding relaxed assumptions require rotations to sufficiently come into play during the motion one wishes to estimate the velocity of. This result opens new perspectives on the range of applicability of the MINAV technique.
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Contributor : François Chaplais Connect in order to contact the contributor
Submitted on : Wednesday, October 16, 2013 - 9:11:06 AM
Last modification on : Wednesday, November 17, 2021 - 12:30:58 PM


  • HAL Id : hal-00873581, version 1


P. Batista, C. Sylvestre, P. Oliveira, Nicolas Petit. Further results on the observability in magneto-inertial navigation. American Control Conference (ACC), 2013, Jun 2013, Washington DC, United States. pp.2503 - 2508. ⟨hal-00873581⟩



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