accelerometer - Android: Magnetometer data deviates -

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i trying estimate heading accelerometer, gyro , magnetometer data. have implemented complementary filter here.

what trying holding phone in hand , walked 15 steps in straight line , trying estimate euler angles given in link above. when plot raw data, observe magnetometer data deviates. here images of raw sensor data.

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enter image description here

enter image description here

my question is: how estimate euler angles indicate walking in straight line.

were walking indoors, or somewhere there might electrical or magnetic fields? judging magnetometer graph, that's what's happening. if so, i'm afraid there's no solution problem.

try running compass app, or carrying toy compass, , walk same path. bet you'll see compass swing walk.

i've been environments moving compass 3 feet down table can cause swing 180 degrees.

as aside: never want euler angles. have degenerate cases. try use transformation matrices or quaternions if can.


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