Calibration and error compensation of magnetometer

In this paper, a method for calibrating and compensating the errors of magnetometer is proposed, in which the error sources consist of constant bias, scale factors, nonorthogonality, hard iron effects and soft iron effects. Related estimation algorithms were proposed, calibration procedure was presented. Two dimensional and three dimensional cases are considered, the efficiency of the proposed algorithms and calibration method is validated by the simulation results, performance comparison of two kinds estimation methods are given based on the accuracy and time consuming.