Tracking an object in an electromagnetic field

A computer-implemented method comprising:

• receiving, at a tracking device, an electromagnetic signal generated by a tracked device;
• determining, based on the electromagnetic signal, a set of possible positions and orientations of the tracked device relative to the tracking device;
• receiving, at the tracking device, a measured inertial value representing a motion of the tracked device;
• determining an estimated inertial value corresponding to the motion of the tracked device based on at least one position and orientation of the set of possible positions and orientations;
• determining a difference value representing a difference between the estimated inertial value and the measured inertial value;
• in response to determining the difference value, determining a particular position and a particular orientation from the set of possible positions and orientations;
• and
• generating an output comprising the particular position and the particular orientation.

A non-transitory computer readable medium storing instructions that are executable by one or more processors configured to perform operations comprising:

• receiving, at a tracking device, an electromagnetic signal generated by a tracked device;
• determining, based on the electromagnetic signal, a set of possible positions and orientations of the tracked device relative to the tracking device;
• receiving, at the tracking device, a measured inertial value representing a motion of the tracked device;
• determining an estimated inertial value corresponding to the motion of the tracked device based on at least one position and orientation of the set of possible positions and orientations;
• determining a difference value representing a difference between the estimated inertial value and the measured inertial value;
• in response to determining the difference value, determining a particular position and a particular orientation from the set of possible positions and orientations;
• and
• generating an output comprising the particular position and the particular orientation.