发表机构
KTH Royal Institute of Technology; FOI Swedish Defence Research Agency（瑞典皇家理工学院; 瑞典国防研究局）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出FlightMagNav开放数据集，包含无人机搭载量子磁力计采集的磁场测量数据，并配套概率地图学习与验证框架，以支持户外磁场定位研究。
AI 中文摘要
基于磁场的定位是一种弹性定位技术，无需外部基础设施，且难以大规模干扰。为促进面向近地表飞行的空中平台的磁场定位研究，本文提出一个开放数据集，该数据集使用一架搭载两个光泵磁力计（一种量子磁力计）和全球导航卫星系统辅助惯性导航系统的无人机采集测量数据。数据集包含用于磁场地图学习和验证的测量数据。除数据集外，本文还提出一个用于磁场地图学习和验证的概率框架，并用于说明如何使用该数据集。最后，我们概述了可利用该数据集探索的研究方向。
英文摘要
Magnetic field-based positioning is a resilient positioning technology that requires no external infrastructure and is hard to jam at scale. To facilitate research on magnetic field-based positioning for aerial platforms operating close to the Earth's surface, an open dataset is presented with measurements collected using an unmanned aerial vehicle carrying two optically pumped magnetometers, a type of quantum magnetometer, and a global navigation satellite system-aided inertial navigation system. The dataset includes measurements for both magnetic-field map learning and validation. Along with the dataset, a probabilistic framework for magnetic-field map learning and validation is presented and used to illustrate how the dataset may be used. Finally, we outline research directions that may be explored using the dataset.
