Filter positioning method and device in dynamic magnetic field

The invention belongs to the technical field of magnetic field positioning, and discloses a filter positioning method and a device in a dynamic magnetic field. According to the invention, collected rotating magnetic field data and attitude data are processed in segments by the filter positioning method and the device in the dynamic magnetic field, each segment of the rotating magnetic field data is input to a rotating magnetic field model for calculation to achieve measured data of each segment of the rotating magnetic field data, the state of filtering estimation of the previous segment of the rotating magnetic field data is transferred, one-step prediction data of the filtering of the previous segment of the rotating magnetic field data is obtained, the one-step prediction data and the measured data of the segment of the rotating magnetic field data are input to a Kalman filter for filtering, filtering estimation of the segment of the rotating magnetic field data is obtained, and a current position of a tar