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N\u00e9anmoins, cette m\u00e9thode est \u00e9galement mise en d\u00e9faut si des hypoth\u00e8ses de non-uniformit\u00e9 et de stationnarit\u00e9 du champ magn\u00e9tique ne sont pas v\u00e9rifi\u00e9es localement autour du capteur.Nos travaux portent sur le d\u00e9veloppement d'une solution de navigation \u00e0 l'estime robuste combinant toutes ces sources d'information: magn\u00e9tiques, visuelles et inertielles.Nous pr\u00e9sentons plusieurs approches pour la fusion de ces donn\u00e9es, bas\u00e9es sur des m\u00e9thodes de filtrage ou d\u2019optimisation et nous d\u00e9veloppons un mod\u00e8le de pr\u00e9diction du champ magn\u00e9tique inspir\u00e9 d'approximation propos\u00e9es en inertiel et permettant d\u2019int\u00e9grer efficacement des termes magn\u00e9tiques dans les m\u00e9thodes d\u2019ajustement de faisceaux. Les performances de ces diff\u00e9rentes approches sont \u00e9valu\u00e9es sur des donn\u00e9es r\u00e9elles et nous d\u00e9montrons le b\u00e9n\u00e9fice de la fusion de donn\u00e9es compar\u00e9es aux solutions vision-inertielles ou magn\u00e9to-inertielles. Des propri\u00e9t\u00e9s th\u00e9oriques de ces m\u00e9thodes li\u00e9es \u00e0 la th\u00e9orie de l\u2019invariance des estimateurs sont \u00e9galement \u00e9tudi\u00e9es.<\/jats:p>","DOI":"10.70675\/5f69e2d2z8552z4b7aza5b6z53a102612282","type":"dissertation","created":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T23:58:35Z","timestamp":1775174315000},"approved":{"date-parts":[[2018,6,1]]},"source":"Crossref","is-referenced-by-count":0,"title":["Improving Visual-Inertial Navigation Using Stationary Environmental Magnetic Disturbances"],"prefix":"10.70675","author":[{"given":"David","family":"Caruso","sequence":"first","affiliation":[{"id":[{"id":"https:\/\/ror.org\/03xjwb503","id-type":"ROR","asserted-by":"publisher"}],"name":"Universit\u00e9 Paris-Saclay (ComUE)"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"51494","reference":[{"key":"105604_207_11","doi-asserted-by":"crossref","unstructured":"Vidal A. 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Some measures are valid for the assessment of EI and others are valid for the assessment of socioemotional attributes (SEA). The constructs of EI and SEA are defined and measures of each described, along with the mental response processes the measures elicit: test-takers\u2019 abilities, self-estimated attributes, or observer reports. Both EI and SEA measures are valid but for distinctly different purposes, and the two classes of measures make different predictions. We add our voices to those who have advocated for dropping the EI label from SEA measures to more clearly draw the distinction between the two. 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