Magnetometer Calibration Using Inertial Sensors
Open accessAbstract
In this paper, we present a practical algorithm for calibrating a magnetometer for the presence of magnetic disturbances and for magnetometer sensor errors. To allow for combining the magnetometer measurements with inertial measurements for orientation estimation, the algorithm also corrects for misalignment between the magnetometer and the inertial sensor axes. The calibration algorithm is formulated as the solution to a maximum likelihood problem, and the computations are performed offline. The algorithm 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 the sensor’s orientation is shown to lead to significantly improved heading estimates.
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The first systematic review published in 2010 concluded that M/IMUs could be a valid tool to measure range of motion, but results were variable across joints and tasks.
“The first systematic review published in 2010 concluded that M/IMUs could be a valid tool to measure range of motion, but results were variable across joints and tasks performed [8].”
From Validity and Reliability of Wearable Sensors for Joint Angle Estimation: A Systematic Review (2019) · cites this paper as [8]
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Cited by
Sorted by citations
Validity and Reliability of Wearable Sensors for Joint Angle Estimation: A Systematic Review
Poitras, I., Dupuis, F., Bielmann, M., Campeau-Lecours, A., Mercier, C., Bouyer, L., & Roy, J.-S. (2019) · Sensors · doi:10.3390/s19071555 · Cited by 309 · see citing works
- Authors
- Kok, M., & Schon, T. B.
- Affiliations
- Linköping University (SE)
- ORCID
- Kok, Manon
- Venue
- IEEE Sensors Journal
- Published
- 2016-07
- Volume
- 16
- Issue
- 14
- Pages
- 5679-5689
- ISSN
- 1530-437X (ISSN-L)
- 1558-1748
- 2379-9153
- OpenAlex
- W157162768
- Cited by
- 175
- References
- 40
- Citations by year
- 2026: 10 · 2025: 15 · 2024: 18 · 2023: 18 · 2022: 15 · 2021: 26 · 2020: 24 · 2019: 20 · 2018: 19 · 2017: 8 · 2016: 1 · 2014: 1
- FWCI
- 19.55
- Type
- journal article
- Language
- en
- Open access
- green
- arxiv.org
- Locations
- IEEE Sensors Journal (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- KTH Publication Database DiVA (KTH Royal Institute of Technology) (submittedVersion, other-oa)
- arXiv (Cornell University)
- Funders
- CADICS, a Linnaeus Center through the Swedish Research Council (Vetenskapsrådet)
- Project Probabilistic Modeling of Dynamical Systems through the Swedish Research Council (Vetenskapsrådet) (621-2013-5524)
- MC Impulse through the European Commission Seventh Framework Programme Research Project
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Inertial Sensor and Navigation
- Physical Sciences › Engineering › Electrical and Electronic Engineering › Magnetic Field Sensors Techniques
- Physical Sciences › Engineering › Electrical and Electronic Engineering › Indoor and Outdoor Localization Technologies
- Keywords
- magnetometer calibration, inertial sensors, magnetic disturbances, maximum likelihood estimation, attitude estimation, heading estimation, sensor fusion
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