Key concept
• Custom-made, fixed-wing UAV
• 3-component fluxgate sensor
• Equivalent layer modelling (ELM)

Custom-made UAV
• Wingspan 2.8 m
• Weight 5.0 kg
• Payload 2.0 kg
• Electric engine 1000 W
• Flight speed 13-30 m/s
• Flight time up to 3 h (> 100 km per flight)
• Autopilot & inertial measurement unit (IMU) control drone flight
• Flight path defined by waypoints with DEM based altitude
• Flight controlled in real-time by PC software via a telemetry link

Flux-gate sensor
• 3 orthogonal components
• Noise level ±0.5 μT
• Dynamic range ±100  μT
• Sampling freq. up to 137 Hz

Base station
• 3 comp. FG magnetometer
and barometer
• Resolution ±0.5 μT
• Sampling freq. 1 Hz