{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:12:07Z","timestamp":1760242327814,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2017,4,11]],"date-time":"2017-04-11T00:00:00Z","timestamp":1491868800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>An accurate orientation is crucial to a satisfactory position in pedestrian navigation. The orientation estimation, however, is greatly affected by errors like the biases of gyroscopes. In order to minimize the error in the orientation, the biases of gyroscopes must be estimated and subtracted. In the state of the art it has been proposed, but not proved, that the estimation of the biases can be accomplished using magnetic field measurements. The objective of this work is to evaluate the effectiveness of using magnetic field measurements to estimate the biases of medium-cost micro-electromechanical sensors (MEMS) gyroscopes. We carry out the evaluation with experiments that cover both, quasi-error-free turn rate and magnetic measurements and medium-cost MEMS turn rate and magnetic measurements. The impact of different homogeneous magnetic field distributions and magnetically perturbed environments is analyzed. Additionally, the effect of the successful biases subtraction on the orientation and the estimated trajectory is detailed. Our results show that the use of magnetic field measurements is beneficial to the correct biases estimation. Further, we show that different magnetic field distributions affect differently the biases estimation process. Moreover, the biases are likewise correctly estimated under perturbed magnetic fields. However, for indoor and urban scenarios the biases estimation process is very slow.<\/jats:p>","DOI":"10.3390\/s17040832","type":"journal-article","created":{"date-parts":[[2017,4,11]],"date-time":"2017-04-11T11:41:42Z","timestamp":1491910902000},"page":"832","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Use of the Magnetic Field for Improving Gyroscopes\u2019 Biases Estimation"],"prefix":"10.3390","volume":"17","author":[{"given":"Estefania","family":"Munoz Diaz","sequence":"first","affiliation":[{"name":"German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, 82234 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fabian","family":"De Ponte M\u00fcller","sequence":"additional","affiliation":[{"name":"German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, 82234 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juan","family":"Garc\u00eda Dom\u00ednguez","sequence":"additional","affiliation":[{"name":"Electronic Department from the University of Alcal\u00e1, E.P.S. Campus Universitario, s\/n, 28806 Alcal\u00e1 de Henares, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,4,11]]},"reference":[{"key":"ref_1","unstructured":"Szalai, A. (2017, April 07). The Use of Time: Daily Activities of Urban and Suburban Populations in Twelve Countries; Mouton, 1972. Available online: https:\/\/trid.trb.org\/view.aspx?id=1150665."},{"key":"ref_2","unstructured":"Madgwick, S. (2010). An Efficient Orientation Filter for Inertial and Inertial\/Magnetic Sensor Arrays, Report x-io and University of Bristol."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"1203","DOI":"10.1109\/TAC.2008.923738","article-title":"Nonlinear Complementary Filters on the Special Orthogonal Group","volume":"53","author":"Mahony","year":"2008","journal-title":"IEEE Trans. Autom. 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