Patent ID: 9677889
Date: 2017-06-13
CPC Classifications: G01C,G01R,G08G

Claim:
1. A method for compensating for soft iron magnetic disturbances in a vehicle that comprises a first heading reference system which includes a first magnetometer coupled to a first heading gyro and a second heading reference system which includes a second magnetometer coupled to a second heading gyro, wherein the first magnetometer and the second magnetometer are installed in different locations within the vehicle, the method comprising: receiving magnetometer data from the first magnetometer and the second magnetometer; generating a first value and a second value indicating a change of a magnetic field based on the first magnetometer and the second magnetometer, respectively, during a detection period; determining a difference of change of the magnetic field between the first value based on the first magnetometer and the second value based on the second magnetometer; in response to determining that the difference of change of the magnetic field exceeds a threshold value: