Determining Location Using Magnetic Fields From AC Power Lines

Systems and methods for determining location using magnetic fields from AC power lines are provided. As an example, each magnetic field reading collected by the device over time can be analyzed to determine a plurality of characteristics of the magnetic field. One or more of the plurality of characteristics can describe a component of the magnetic field that oscillates at a frequency associated with the AC power lines. The plurality of characteristics can be compared to expected values respectively associated with a plurality of locations and provided by a map of the magnetic field to determine a location at which each magnetic field reading was collected. In further embodiments, magnetic field readings collected by the device over time can be analyzed in conjunction with other data or constraints to determine a trajectory of the device. In addition, the map can be updated using the collected readings and the determined trajectory.