Systems and methods for multimodal pose and motion tracking for magnetic field measurement or recording systems

A magnetic field recording system, comprising:

• a headgear configured to be placed on a user;
• a plurality of optically pumped magnetometers (OPMs) disposed in or on the headgear and configured to detect magnetic fields;
• at least two sensing modalities selected from the following:
• i) a magnetic sensing modality comprising at least one electromagnetic coil configured to produce magnetic field tones at one or more frequencies and at least one magnetic field sensor configured for placement on the user to detect the magnetic field tones and to produce a magnetic data stream,
• ii) an optical sensing modality comprising at least one light source and at least one camera or light detector configured to receive light reflected or directed from the user and to produce an optical data stream, or
• iii) an inertial sensing modality comprising at least one inertial sensor configured for placement on a user and to produce an inertial data stream;
• and
• a tracking unit configured to receive, from each of the at least two sensing modalities, the corresponding magnetic data stream, optical data stream, or inertial data stream and to track a position or orientation of the headgear or user;
• and
• a system controller configured to control operation of the OPMs and to receive, from the tracking unit, the position or orientation of the headgear or user.