Abstract: The present disclosure relates to methods, systems, and apparatus, including computer programs encoded on computer storage media, for denoising magnetic measurements. An example method includes obtaining, using a plurality of magnetometers of a magnetically unshielded device, noisy magnetic measurement data of a magnetic field at least partially caused by an organ of a subject; obtaining, using one or more inertial measurement units (IMUs) of the magnetically unshielded device, a motional measurement of the plurality of magnetometers; determining cleaned magnetic field data based at least in part on the noisy magnetic measurement data and the motional measurement data; and taking an action based at least in part on the cleaned magnetic field data.

Abstract: The present disclosure relates to methods, systems, and apparatus, including computer programs encoded on computer storage media, for denoising magnetic measurements. An example method includes obtaining, using a plurality of magnetometers of a magnetically unshielded device, noisy magnetic measurement data of a magnetic field at least partially caused by an organ of a subject; obtaining, using one or more inertial measurement units (IMUs) of the magnetically unshielded device, a motional measurement of the plurality of magnetometers; determining cleaned magnetic field data based at least in part on the noisy magnetic measurement data and the motional measurement data; and taking an action based at least in part on the cleaned magnetic field data.