Complete Triaxis Magnetometer Calibration in the Magnetic Domain

<table>Earth’s magnetic field in the sensor reference frame. <svg height="9.2749996" id="M3" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 11.4 9.2749996" width="11.4" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,9.275)">
<g transform="translate(72,-64.58)">
<text transform="matrix(1,0,0,-1,-71.95,64.63)">
<tspan style="font-size: 11.21px; " x="0" y="0">𝐷</tspan>
</text>
</g>
</g>
</svg> is the declination angle between the geographic North and the horizontal component. <svg height="9.2749996" id="M4" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 8.1125002 9.2749996" width="8.1125002" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,9.275)">
<g transform="translate(72,-64.58)">
<text transform="matrix(1,0,0,-1,-71.95,64.63)">
<tspan style="font-size: 11.21px; " x="0" y="0">𝐼</tspan>
</text>
</g>
</g>
</svg> is the inclination angle between the horizontal plane and the magnetic field vector.</table>

Journal of Sensors

Complete Triaxis Magnetometer Calibration in the Magnetic Domain

Figure 1