Removing magnetocardiography noise due to motion

A system comprising:

• one or more computers;
• and
• one or more storage devices on which are stored instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform a method comprising:
• 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, motional measurement data of the plurality of magnetometers;
• determining cleaned magnetic field data associated with the organ 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.

A non-transitory computer-readable medium storing program instructions to perform operations comprising:

• 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, motional measurement data of the plurality of magnetometers;
• determining cleaned magnetic field data associated with the organ 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.