仅用低成本传感器实现高精度室内定位，适合无GPS环境。

Spatially inhomogeneous magnetic fields offer a valuable, non-visual information source for positioning. Among systems leveraging this, magnetic field-based simultaneous localization and mapping (SLAM) systems are particularly attractive. These systems execute positioning and magnetic field mapping tasks simultaneously, and they have bounded positioning error within previously visited regions. However, state-of-the-art magnetic-field SLAM methods typically require low-drift odometry data provided by visual odometry, a wheel encoder, or pedestrian dead-reckoning technology, which may not be available under certain situations. To address this limitation, this work proposes two magnetic inertial SLAM (MI-SLAM) systems --- a loosely coupled version and a tightly coupled version --- that rely solely on low-cost sensors: an inertial measurement unit (IMU) and seven magnetometers. Both systems use a magnetic field aided inertial navigation system (MAINS) to obtain odometry. The key difference between the two systems is whether the navigation state estimation is done in one or two steps. These systems are evaluated in real-world indoor environments with multi-floor structures. The proposed MI-SLAM systems outperform the state-of-the-art magnetic-inertial odometry system, MAINS, achieving a positioning RMSE below 1 meter on a trajectory lasting approximately 200 seconds. A potential application of the proposed systems is for the positioning of emergency response officers in mine or fire rescue operations, where one cannot rely on a GNSS or visual-based localization system.