Fig 6. The distributions of a) σ₁ and b) σ₂, which characterize the reconstruction error in position and orientation, respectively.

The unit of σ₁ is [mm/μT] and that of σ₂ is [Am²/μT]. Here L = 0.1 m, |m| = 0.001Am² and pointing at the (1, 1, 1) direction.