| 摘要 |
A method for tracking dynamic near fields and correcting a magnetic field measured together with an angular position having an unknown yaw offset relative to a gravitational reference system includes calculating a magnetic field difference between a magnetic field based on the measured magnetic field and the angular position, and a previous total magnetic field, estimating current near fields to be a sum of previous near fields and a portion of the calculated magnetic field difference, computing a magnitude difference, and an angular difference between the measured magnetic field corrected using the estimated current near fields and a fixed vector, comparing the magnitude difference and the angle difference with noise, and if the current measured magnetic field is consistent with the previously tracked magnetic near fields, updating the angular position and correcting the measured magnetic field for the current near field effects using the updated angular position. |
