Three-Axis Magnetometer Navigation in Suburban Areas

Three-axis magnetometer measurements present a practical source of navigation information. The magnetometer and magnetic field maps can be used to generate position estimates which can be used standalone for navigation solutions, or as an input to another navigation system for correction or aiding. In addition, the three-axis magnetometer measurements can be used directly to produce navigation solutions. This paper explores position measurement generation using magnetometer measurements, likelihood techniques, and the magnetic field map for ground vehicles. A specialized particle filter is used to compare measurement update methods using the generated position estimates, as well as direct incorporation of the magnetometer measurements. The results demonstrate road-level navigation using magnetic field variations in ground vehicles in three different suburban environments.