Improved Magnetic Anomaly Navigation Accuracy through Cooperative Navigation

Aaron Canciani, Kevin Brink

Peer Reviewed

Abstract:	Recent successful flight tests have demonstrated magnetic anomaly navigation as a promising GPS-alternative navigation technique. Magnetic field measurements alone have a small sensor aperture requiring a magnetic navigation system to collect several magnetic field measurements over time in order to navigate. In this paper, the authors propose a technique to improve the magnetic field sensor aperture—the use of shared magnetic field data in a cooperative navigation system with known relative positioning. A detailed simulation framework is implemented which explores the benefits of cooperative navigation using magnetic anomaly fields. The Cramer-Rao Lower Bound for cooperative magnetic anomaly navigation is presented and used to validate the simulation framework. A thorough set of trade-space studies are performed which predict cooperative navigation performance with respect to number or vehicles, altitude, velocity, and IMU quality. Trade-space results indicate that a simple cooperative navigation framework can greatly increase performance of the already promising technique of magnetic anomaly field navigation.
Published in:	Proceedings of the ION 2017 Pacific PNT Meeting May 1 - 4, 2017 Marriott Waikiki Beach Resort & Spa Honolulu, Hawaii
Pages:	239 - 262
Cite this article:	Canciani, Aaron, Brink, Kevin, "Improved Magnetic Anomaly Navigation Accuracy through Cooperative Navigation," Proceedings of the ION 2017 Pacific PNT Meeting, Honolulu, Hawaii, May 2017, pp. 239-262. https://doi.org/10.33012/2017.15059
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