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.

室内环境中的铁磁材料引起环境磁场的扰动，可以利用这些磁场扰动制作地图用于室内定位。我们研究了利用磁力计测量和磁力计位置信息学习磁场的空间变化的高斯过程，并探讨如何利用磁力计阵列提高磁场地图的质量。通过模拟和实验数据，我们证明了该方法的有效性。

使用带有噪声输入的磁力计阵列进行磁场映射的高斯过程回归