This repository contains the implementation of the MAINS algorithm for the paper MAINS: A Magnetic Field Aided Inertial Navigation System for Indoor Positioning. The proposed method is compared with the state-of-the-art method magnetic field gradient-based EKF from the paper Magnetic Field Gradient-Based EKF for Velocity Estimation in Indoor Navigation.
The implementation of MAINS is in the directory MAINS and the implementation of magnetic field gradient-based EKF is in the directory MAGEKF. The data used for the experiments is in the directory data.
Please see the file LICENSE for details.
Run main.m to see the results of the experiments. The results are saved in the directory results.
The MAINS algorithm can also run independently by running main1.m in the directory MAINS. The config file config.json can be used to change the parameters of the algorithm.
The authors thank Hassen Fourati and Christophe Prieur of the University Grenoble Alpes for sharing their implementation of MAGEKF.