Ferromagnetic materials in indoor environments give rise to disturbances in the ambient magnetic field. Maps of these magnetic disturbances can be used for indoor localisation. A Gaussian process can be used to learn the spatially varying magnitude of the magnetic field using magnetometer measurements and information about the position of the magnetometer. The position of the magnetometer, however, is frequently only approximately known. This negatively affects the quality of the magnetic field map. In this paper, we investigate how an array of magnetometers can be used to improve the quality of the magnetic field map. The position of the array is approximately known, but the relative locations of the magnetometers on the array are known. We include this information in a novel method to make a map of the ambient magnetic field. We study the properties of our method in simulation and show that our method improves the map quality. We also demonstrate the efficacy of our method with experimental data for the mapping of the magnetic field using an array of 30 magnetometers.

翻译：室内环境中的铁磁材料会引起环境磁场的扰动。这些磁场扰动的地图可用于室内定位。利用高斯过程，可通过磁力计测量值及磁力计位置信息学习磁场的空间变化幅度。然而，磁力计的位置通常仅能近似已知，这会对磁场地图的质量产生负面影响。本文研究了如何利用磁力计阵列提升磁场地图质量。阵列的位置近似已知，但阵列上各磁力计的相对位置是已知的。我们将此信息纳入一种新方法中，用于绘制环境磁场图。通过仿真研究了所提方法的特性，结果表明该方法能提升地图质量。我们还通过使用30个磁力计阵列进行磁场测绘的实验数据，验证了该方法的有效性。