Patent attributes
A system comprising: a magnetic transmitter configured to generate magnetic fields; a magnetic sensor configured to generate signals based on characteristics of the magnetic fields received at the magnetic sensor; and one or more computer systems configured to: receive the signals from the magnetic sensor; determine, based on the signals received from the magnetic sensor, an electromagnetic (EM) pose of the magnetic sensor relative to the magnetic transmitter; determine one or both of: i) an inertial pose of the magnetic sensor relative to the magnetic transmitter based on inertial data associated with the magnetic transmitter and the magnetic sensor, or ii) an optical pose of the magnetic sensor relative to the magnetic transmitter based on optical data associated with the magnetic transmitter and the magnetic sensor; determine an estimated pose of the magnetic sensor relative to the magnetic transmitter based on the EM pose and the one or both of the inertial pose or the optical pose; determine distorted magnetic fields based on the EM pose; determine estimated clean magnetic fields based on the estimated pose; determine estimated distorted magnetic fields based on the distorted magnetic fields and the estimated clean fields; and determine an improved EM pose of the magnetic sensor relative to the magnetic transmitter based on the estimated distorted magnetic fields.
