Further results on the observability in magneto-inertial navigation

This paper shows that one can relax an important assumption usually formulated to employ the magneto-inertial navigation (MINAV) technique. This technique, which allows to reconstruct the velocity of a rigid body moving in a magnetically disturbed area, usually assumes that the (unknown) Jacobian of the magnetic field is everywhere non-singular. As it is here demonstrated, this assumption can be significantly alleviated thanks to further investigations on the observability of the dynamics at stake. Corresponding relaxed assumptions require rotations to sufficiently come into play during the motion one wishes to estimate the velocity of. This result opens new perspectives on the range of applicability of the MINAV technique.