Magnetometer heading error estimation

A non-transitory, computer-readable medium storing instructions that, when executed by a computing system, cause the computing system to perform operations comprising:

• receiving a three-dimensional measurement from a magnetometer coupled to a client device, the three-dimensional measurement being a measurement captured by the magnetometer of the client device of a magnetic field and comprising a heading and a vertical component;
• identifying an expected vertical component based on a position associated with the three-dimensional measurement and a world magnetic map, the world magnetic map mapping positions to expected vertical components;
• and
• generating an error estimate based on the vertical component of the three-dimensional measurement and the expected vertical component;
• comparing the error estimate to an error threshold;
• and
• responsive to the error estimate being less than an error threshold:
• determining a pose of the client device based on the heading, wherein determining the pose of the client device based on the heading comprises weighting the heading based on the error estimate, and
• displaying augmented reality content to a user using the pose, wherein displaying the augmented reality content comprises updating a display of the client device to present the augmented reality content.

A system comprising:

• one or more processors;
• and
• a non-transitory, computer-readable medium storing instructions that, when executed by the one or more processors, cause the one or more processors to:
• receive a three-dimensional measurement from a magnetometer coupled to a client device, the three-dimensional measurement captured by the magnetometer of the client device being a measurement of a magnetic field and comprising a heading and a vertical component;
• identify an expected vertical component based on a position associated with the three-dimensional measurement and a world magnetic map, the world magnetic map mapping positions to expected vertical components;
• and
• generate an error estimate based on the vertical component of the three-dimensional measurement and the expected vertical component;
• compare the error estimate to an error threshold;
• and
• responsive to the error estimate being less than an error threshold:
• determine a pose of the client device based on the heading, wherein determining the pose of the client device based on the heading comprises weighting the heading based on the error estimate, and
• display augmented reality content to a user using the pose, wherein displaying the augmented reality content comprises updating a display of the client device to present the augmented reality content.