1. Inertial and magnetic sensors
Magneto-inertial navigation works on the basis of a triad of accelerometer, gyrometer and magnetometer sensors. In some cases, it can be supplemented by other measurement systems (barometer, global positioning system (GPS), altimeter, inclinometer, odometer, camera, etc.) to increase the accuracy of navigation state estimation using dedicated algorithms
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Inertial and magnetic sensors
EKF: general principle and algorithm
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