Systems and methods for stabilizing magnetic field of inertial measurement unit

A method for stabilizing a magnetic field of an inertial measurement unit (IMU), is provided that includes initializing accelerometer and gyroscope (AG) heading data for the IMU and initializing accelerometer, gyroscope and magnetometer (AGM) heading data for the IMU. Determining whether a tracking state exists and completing processing of the AG heading data and the AGM heading data if the tracking state does not exist. Calculating a magnetic field error if the tracking state exists.