Abstract
AbstractA navigation approach with high positioning accuracy and extensive applicability is in need by many underwater and indoor tasks. This paper presents a regional navigation approach using regularly distributed artificial magnetic beacons. By placing magnetic beacons in the target area according to a certain rule, a repetitive regional magnetic field can be generated. When an autonomous vehicle navigates in this region, the magnetic matching approach can be used to get its real-time position relative to the magnetic beacons around. These magnetic beacons can then be treated as landmarks for the vehicle to perform simultaneous localization and mapping (SLAM) algorithm. To achieve as high matching accuracy as possible, the coalition game is utilized to determine the optimal beacon-distribution scheme. As the distribution of magnetic field is almost unaffected by nonmagnetic structures, this approach can be easily used in many indoor and underwater environments. By using a real regional magnetic survey dataset as background field, a simulation experiment is conducted and verifies the performance of the proposed approach in detail.KeywordsSLAMMagnetic beaconsMagnetic matching
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