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.

Valérie Renaudin

Muhammad Haris Afzal

Gérard Lachapelle

Journal of Sensors

JOURNAL OF SENSORS 发表与传感器各个方面相关的论文，从其理论和设计，到完整传感设备的应用。涵盖所有类别的传感器，包括声学、生物、化学、电子、电磁（包括光学）、机械、接近和热传感器。鼓励与可穿戴、可植入和遥感设备相关的提交。设想的应用包括但不限于： -医疗、保健和生活方式监测 -环境和大气监测 -工程、制造和加工行业的传感 -运输、导航和地理定位 - 机器人和无人机的视觉、感知和传感该杂志欢迎文章，以及传感器技术本身，考虑现代传感器实施的实际方面，如网络、通信、信号处理和数据管理。除了原创研究外，《传感器杂志》还发表重点评论文章，检查最先进的技术，识别新兴趋势，并为发展领域提出未来方向。

The Journal of Sensors publishes papers related to all aspects of sensors, covering everything from theory and design to the application of complete sensing devices. It encompasses all categories of sensors, including acoustic, biological, chemical, electronic, electromagnetic (including optical), mechanical, proximity, and thermal sensors. Submissions related to wearable, implantable, and remote sensing devices are encouraged. Potential application areas include but are not limited to: medical, health, and lifestyle monitoring; environmental and atmospheric monitoring; sensing in engineering, manufacturing, and processing industries; transportation, navigation, and geolocation; as well as vision, perception, and sensing in robotics and drones. The journal welcomes articles on sensor technology itself, considering practical aspects of modern sensor implementation such as networking, communication, signal processing, and data management. In addition to original research, the Journal of Sensors also publishes focused review articles that examine cutting-edge technologies, identify emerging trends, and propose future directions for the development of the field.

《Journal of Sensors》发表与传感器相关的各个方面的论文，涵盖从理论和设计到完整传感设备的应用。涉及所有类型的传感器，包括声学、生物、化学、电子、电磁（包括光学）、机械、接近和热传感器。我们鼓励与可穿戴、可植入和遥感设备相关的投稿。设想的应用领域包括但不限于：医疗、健康和生活方式监测；环境和大气监测；工程、制造和加工行业的传感；运输、导航和地理定位；以及机器人和无人机的视觉、感知和传感。该杂志欢迎关于传感器技术的文章，特别关注现代传感器实施的实际方面，如网络、通信、信号处理和数据管理。除了原创研究外，《Journal of Sensors》还发表重点评论文章，审视最先进的技术，识别新兴趋势，并为该领域的发展提供未来方向。

Complete Triaxis Magnetometer Calibration in the Magnetic Domain

Article deposited according to Hindawi Publishing Corporation policy in SHERPA/RoMEO, June 14, 2011.

Category	Quartile
工程技术	4
工程技术, 工程电子与电气	4
工程技术, 仪器仪表	4

Complete Triaxis Magnetometer Calibration in the Magnetic Domain

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Category	Quartile
INSTRUMENTS & INSTRUMENTATION	3