An Efficient Method for Gyroscope-Aided Full Magnetometer Calibration

Due to the interference of the onboard magnetic material, the magnetometer intrinsic parameters differ from factory specification, and the cross-sensor misalignment between magnetometers and other sensors is distorted as well. This paper proposes an efficient full magnetometer calibration algorithm at the aid of gyroscopes by solving a homogeneous least-squared problem. The algorithm is able to accomplish both the intrinsic and cross-sensor calibration in a single step. It can serve as a coarse calibration method alone or be used as a good initial value for other fine algorithms for more accurate result.