Magnetic-Field aided Inertial Navigation System

This repo implements a magnetic-Field aided inertial navigation system as in paper A Tightly-Integrated Magnetic-Field aided Inertial Navigation System.

Comparison with a pure standalone INS

Groudtruth	Pure INS	Magnetic-field aided INS

The red line shows the RMSE of the filter estimate, the dashed line shows the RMSE of the filter estimate without magnetic-field aiding.

Run simulation

1. create a folder figures
2. run main.m