# Magnetometer calibration using inertial sensors

arXiv: https://arxiv.org/abs/1601.05257 · HTML: https://mlsanity.com/paper/1601.05257/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Jan 2016.

## Built on by (most cited first, 4 of 4)

- [IDOL: Inertial Deep Orientation-Estimation and Localization](https://mlsanity.com/paper/2102.04024/) (2021)
- [Enhancing Visual Inertial SLAM with Magnetic Measurements](https://mlsanity.com/paper/2409.09904/) (2024)
- [Mapping the magnetic field using a magnetometer array with noisy input Gaussian process regression](https://mlsanity.com/paper/2310.16577/) (2023)
- [DeepCompass: AI-driven Location-Orientation Synchronization for Navigating Platforms](https://mlsanity.com/paper/2311.12805/) (2023)

## Abstract (arXiv)

In this work 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.