NavFormer通过旋转不变特征预测地磁强度，提升导航精度。
NavFormer: IGRF Forecasting in Moving Coordinate Frames
- 用旋转不变标量特征和规范SPD模块稳定地磁数据谱
- 五次飞行实验中误差低于强基线模型，支持少样本与零样本迁移
- 适合自主导航系统中的高鲁棒性地磁定位应用
三轴磁力计分量随传感器姿态变化，但IGRF总强度目标保持不变。NavFormer利用旋转不变标量特征和一种规范对称正定（SPD）模块，稳定窗口内三轴数据二阶矩的频谱，避免符号不连续问题。该模块每窗口构建一个规范坐标系，并在原坐标系中施加状态相关谱缩放。跨五次飞行实验表明，无论标准训练、少样本训练还是零样本迁移，其误差均低于强基线模型。代码已公开。
原文摘要 · Abstract (English)
Triad magnetometer components change with sensor attitude even when the IGRF total intensity target stays invariant. NavFormer forecasts this invariant target with rotation invariant scalar features and a Canonical SPD module that stabilizes the spectrum of window level second moments of the triads without sign discontinuities. The module builds a canonical frame from a Gram matrix per window and applies state dependent spectral scaling in the original coordinates. Experiments across five flights show lower error than strong baselines in standard training, few shot training, and zero shot transfer. The code is available at: https://anonymous.4open.science/r/NavFormer-Robust-IGRF-Forecasting-for-Autonomous-Navigators-0765
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