Aiming at the problem that in the process of multi-sensor data fusion

when the magnetometer is affected by the non-geomagnetic field in the environment

the error will occur in attitude calculating

a new quasistatic magnetic field detection method is proposed. The method determines whether the magnetic field is in quasistatic according to the difference in the heading angle calculated by the magnetometer and the gyroscope

thereby determining whether the data fusion is performed using the magnetometer data. Experiments show that this method can complement the existing quasi-static magnetic field detection methods

and can better identify the perturbed magnetic field

thus reducing the influence of the perturbed magnetic field on the attitude calculation and improving the accuracy of the attitude calculation.