In this paper we extend our previous work on UAV localization based on the magnetic field strength. The method is based on a magnetic flux density distribution in vicinity of two very long, thin and parallel transmission lines. An UAV is equipped with 4 magnetometers, positioned so that obtained measurements give unique solution to an optimization problem used to find relative position and orientation of the UAV with respect to conductors. Several sets of experiments, undertaken on a laboratory setup, confirmed validity of the method for both solutions - analytical and numerical optimization. Obtained results, compared with high precision motion capture system, are within range of standard RTK positioning.

翻译：在本文中,我们根据磁场强度扩展了我们以前关于无人驾驶航空器定位的工作,该方法基于磁通量密度分布在两条非常长、薄和平行的传输线附近,无人驾驶航空器配备了4个磁强计,其定位为获得的测量结果为找到无人驾驶航空器相对于导体的相对位置和方向的优化问题提供了独特的解决办法。在实验室设置上进行的几套实验,证实两种解决办法——分析和数字优化——的方法的有效性。所取得的结果与高精度运动捕捉系统相比,在标准RTK定位范围内。