Instances of spoofing and jamming of global navigation satellite systems (GNSSs) have emphasized the need for alternative navigation methods. Aerial navigation by magnetic map matching has been demonstrated as a viable GNSS‐alternative navigation technique. Flight test demonstrations have achieved accuracies of tens of meters over hour‐long flights, but these flights required accurate magnetic maps which are not always available. Magnetic map availability and resolution vary widely around the globe. Removing the dependency on prior survey maps extends the benefits of aerial magnetic navigation methods to small unmanned aerial systems (sUAS) at lower altitudes where magnetic maps are especially undersampled or unavailable. In this paper, a simultaneous localization and mapping (SLAM) algorithm known as FastSLAM was modified to use scalar magnetic measurements to constrain a drifting inertial navigation system (INS). The algorithm was then demonstrated on real magnetic navigation flight test data. Similar in performance to the map‐based approach, MagSLAM achieved tens of meters accuracy in a 100‐minute flight without the use of a prior magnetic map. Aerial SLAM using Earth's magnetic anomaly field provides a GNSS‐alternative navigation method that is globally persistent, impervious to jamming or spoofing, stealthy, and locally accurate to tens of meters without the need for a magnetic map.

中文翻译：

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MagSLAM：利用地球磁场异常场同时进行空中定位和制图

全球导航卫星系统（GNSS）的欺骗和干扰实例强调了对替代导航方法的需求。通过磁地图匹配进行空中导航已被证明是可行的GNSS替代导航技术。飞行测试演示在长达一个小时的飞行中已经达到了数十米的精度，但是这些飞行需要精确的磁性地图，而这些磁性地图并不总是可用。磁性地图的可用性和分辨率在全球范围内差异很大。消除了对先前勘测地图的依赖性，将航空电磁导航方法的优势扩展到了在海拔较低的地方，尤其是在磁性地图特别欠采样或不可用的小型无人机系统（sUAS）上。在本文中，改进了名为FastSLAM的同时定位和映射（SLAM）算法，以使用标量磁测量来约束漂移惯性导航系统（INS）。然后在真实的磁导航飞行测试数据上演示了该算法。与基于地图的方法在性能上相似，MagSLAM在100分钟的飞行中达到了数十米的精度，而无需使用以前的磁性地图。利用地球磁场异常的空中SLAM提供了GNSS替代导航方法，该方法具有全局持久性，不会被干扰或欺骗，隐身并且局部精确到数十米，而无需磁图。与基于地图的方法在性能上相似，MagSLAM在100分钟的飞行中达到了数十米的精度，而无需使用以前的磁性地图。利用地球磁场异常的空中SLAM提供了GNSS替代导航方法，该方法具有全局持久性，不会被干扰或欺骗，隐身并且局部精确到数十米，而无需磁图。与基于地图的方法在性能上相似，MagSLAM在100分钟的飞行中达到了数十米的精度，而无需使用以前的磁性地图。利用地球磁场异常的空中SLAM提供了GNSS替代导航方法，该方法具有全局持久性，不会被干扰或欺骗，隐身并且局部精确到数十米，而无需磁图。