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Journal of Sensors
Volume 2010 (2010), Article ID 967245, 10 pages
Research Article

Complete Triaxis Magnetometer Calibration in the Magnetic Domain

Position Location and Navigation (PLAN) Group, Schulich School of Engineering, University of Calgary, 2500 University Drive N.W., Calgary, AB, Canada T2N 1N4

Received 6 September 2010; Revised 13 October 2010; Accepted 26 October 2010

Academic Editor: Pavel Ripka

Copyright © 2010 Valérie Renaudin et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents an algorithm for calibrating erroneous tri-axis magnetometers in the magnetic field domain. Unlike existing algorithms, no simplification is made on the nature of errors to ease the estimation. A complete error model, including instrumentation errors (scale factors, nonorthogonality, and offsets) and magnetic deviations (soft and hard iron) on the host platform, is elaborated. An adaptive least squares estimator provides a consistent solution to the ellipsoid fitting problem and the magnetometer's calibration parameters are derived. The calibration is experimentally assessed with two artificial magnetic perturbations introduced close to the sensor on the host platform and without additional perturbation. In all configurations, the algorithm successfully converges to a good estimate of the said errors. Comparing the magnetically derived headings with a GNSS/INS reference, the results show a major improvement in terms of heading accuracy after the calibration.