Using magnetic-sensor data to correct for INS drift

One or more computer-readable non-transitory storage media embodying software that is operable when executed to:

• access a trajectory;
• compare a first one of a plurality of portions of the trajectory with a second one of the portions, wherein a greater level of confidence is associated with the first one of the portions than the second one of the portions;
• determine based on the comparison that the first and second ones of the portions approximately magnetically coincide with each other and are not approximately colocated with each other in the trajectory;
• compare a first level of confidence associated with the first one of the portions with a second level of confidence associated with the second one of the portions;
• and
• when the first level of confidence is greater than the second level of confidence, adjust the second one of the portions to be approximately colocated with the first one of the portions in the trajectory.

A system comprising:

• one or more processors;
• and
• one or more computer-readable non-transitory storage media coupled to one or more of the processors and comprising instructions operable when executed by one or more of the processors to cause the system to:
• access a trajectory;
• compare a first one of a plurality of portions of the trajectory with a second one of the portions, wherein a greater level of confidence is associated with the first one of the portions than the second one of the portions;
• determine based on the comparison that the first and second ones of the portions approximately magnetically coincide with each other and are not approximately colocated with each other in the trajectory;
• compare a first level of confidence associated with the first one of the portions with a second level of confidence associated with the second one of the portions;
• and
• when the first level of confidence is greater than the second level of confidence, adjust the second one of the portions to be approximately colocated with the first one of the portions in the trajectory.

A system comprising:

• means for accessing a trajectory;
• means for comparing a first one of a plurality of portions of the trajectory with a second one of the portions, wherein a greater level of confidence is associated with the first one of the portions than the second one of the portions;
• means for determining based on the comparison that the first and second ones of the portions approximately magnetically coincide with each other and are not approximately colocated with each other in the trajectory;
• means for comparing a first level of confidence associated with the first one of the portions with a second level of confidence associated with the second one of the portions;
• and
• means for, when the first level of confidence is greater than the second level of confidence, adjusting the second one of the portions to be approximately colocated with the first one of the portions in the trajectory.