Magnetometer calibration using inertial sensors

In this work we present a practical calibration algorithm that calibrates a magnetometer using inertial sensors. The calibration corrects for magnetometer sensor errors, for the presence of magnetic disturbances and for misalignment between the magnetometer and the inertial sensor axes. It is based on a maximum likelihood formulation and is formulated as an offline method. It is shown to give good results using data from two different commercially available sensor units. Using the calibrated magnetometer measurements in combination with the inertial sensors to determine orientation, is shown to lead to significantly improved heading estimates.Funding agencies: Funding Agencies|CADICS; Project Probabilistic Modeling of Dynamical Systems through the Swedish Research Council (Vetenskapsradet) [621-2013-5524]; MC Impulse through the European Commission Seventh Framework Programme Research Project; Linnaeus Center through the Swedish Research Council (Vetenskapsradet)Vid tiden för disputation förelåg publikationen som manuskript