Extended Data Fig. 4: Precision of the 3D-tracking and 3D-pose measurements.

a, Experimental setup: A ONIX headstage was moved by known amounts at a 2-meter distance from the base stations. The base station pair was separated by 60 cm. b, Coordinates are derived from angular tracking data relative to the known base station positions. In our case (60 cm separation at a 2 m distance), this results in worse resolution in the height/Z direction than in the lateral/XY direction. c, Practically achievable absolute angular error of the BNO055 sensor on the headstages in dynamic environments without explicit calibration procedure. The absolute angle of a headstage was measured with an overhead camera, and the headstage was rotated randomly by hand in a non-optimized lab environment without any magnetic shielding. The ~2 degrees error range is consistent with the reported accuracy for the BNO055. d, Raw position measurements for known step displacements. e, Measurement jitter relative to known positions. In addition to the raw sample data, smoothed data at 15 Hz are plotted. f, Resulting cumulative distribution of absolute jitter. g-i, same as c-e but for height/Z measurements. The setup used here with large distance from the base stations and small distance between the base stations represents a worst-case scenario and demonstrates degraded Z resolution. Higher Z resolution can be achieved at the same distances by increasing the spacing between the base stations above 60 cm or decreasing the height of the base stations relative to the headstage.