In this letter, a novel-feature-based simultaneous localization and mapping (SLAM) approach based on detection of magnetic beacons is presented as a convenient and accurate navigation solution. The magnetic beacons can be accurately detected with unknown background magnetic field by modeling the background field with polynomials and performing joint estimation. By taking the beacons as landmarks, a particle-filter-based SLAM model is established with the dead-reckoning system as state prediction and the relative positions of magnetic beacons as measurement. The potential false detection results are excluded to improve the robustness of the system and reduce computation cost. Experiments based on real-world data are performed to validate the effectiveness and accuracy of the approach.

中文翻译：

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基于磁信标检测的同步定位和建图方法


在这封信中，提出了一种基于磁信标检测的基于新颖特征的同步定位和建图（SLAM）方法，作为一种方便而准确的导航解决方案。通过对背景场进行多项式建模并进行联合估计，可以在未知的背景磁场下准确检测磁信标。以信标为地标，以航位推算系统作为状态预测，以磁信标相对位置作为测量，建立基于粒子滤波器的SLAM模型。排除潜在的错误检测结果，以提高系统的鲁棒性并降低计算成本。基于真实世界数据的实验被执行以验证该方法的有效性和准确性。