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INS aided by an acoustic wireless sensor network and magnetometer

The objective of this paper is to develop the theory for integrating magnetometer measurements with an existing inertial navigation system (INS) aided by an acoustic wireless sensor network. The system without magnetometer measurements provides position information reliably. However, in the absence of dynamic motion the orientation errors are not observable using the sensor network, which only provides position information. The magnetometer provides consistent observability of the orientation. The measurement model needed to estimate the orientation errors using the magnetometer is derived in this paper. This measurement model is integrated with measurements from the acoustic sensor network into a complimentary Kalman filter that is used to estimate the error states of an INS.