Abstract: Example computer-implemented methods and systems for estimating geophysical fields for magnetic navigation. One example computer-implemented method includes storing, at a navigation object, an offline baseline estimation model. Online geophysical field model data not stored on the navigation object are received at various times at the navigation object. Control logic is used to select at least one of (1) the offline baseline estimation model and (2) the online geophysical field model data to use to estimate geophysical fields for the navigation object at a variety of specified times.

Abstract: Disclosed are exemplary computer-implemented methods and systems for geophysical field sensing based navigation. One example of a computer-implemented method includes: receiving geophysical field data from at least one geophysical field sensor; synchronizing timing of the geophysical field data; de-noising, using a de-noising machine learning model, the geophysical field data removing noise from local sources of noise for the at least one geophysical field sensor to produce de-noised geophysical field data, the de-noising machine learning model trained using ground truth map data and training data corresponding to the ground truth map data; receiving map data from a geophysical map engine; performing error estimation by comparing the de-noised geophysical field data with the map data; and updating a position estimation based at least in part on the error estimation.