Research on correction of tri-axial magnetometer and application in underwater magnetic field localization

An error modelling and correction method for tri-axial magnetometer applicable to low SNR (signal to noise ratio) condition is proposed. Because the errors of tri-axial magnetometer caused by nonorthogonality, different sensitivities among three axes reduce the accuracy of underwater vehicle magnetic field localization, it is necessary to correct and compensate these errors. The error model of magnetometer and its correction algorithm are both analysed and deduced in detail. Compared to Reference [13], simulation proves the convergence of the algorithm even if SNR of magnetometer is low. The relation between error correction precision and sampling number is given, and which verifies the method can be adapted to correction of tri-axial magnetometer with strong noise. The error modelling and correction method for tri-axial magnetometer can be applied to underwater vehicle localization with a satisfactory precision.