{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,23]],"date-time":"2026-03-23T14:34:31Z","timestamp":1774276471895,"version":"3.50.1"},"reference-count":26,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2017,5,26]],"date-time":"2017-05-26T00:00:00Z","timestamp":1495756800000},"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>Magnetometers combined with inertial sensors are widely used for orientation estimation, and calibrations are necessary to achieve high accuracy. This paper presents a complete tri-axis magnetometer calibration algorithm with a gyro auxiliary. The magnetic distortions and sensor errors, including the misalignment error between the magnetometer and assembled platform, are compensated after calibration. With the gyro auxiliary, the magnetometer linear interpolation outputs are calculated, and the error parameters are evaluated under linear operations of magnetometer interpolation outputs. The simulation and experiment are performed to illustrate the efficiency of the algorithm. After calibration, the heading errors calculated by magnetometers are reduced to 0.5\u00b0 (1\u03c3). This calibration algorithm can also be applied to tri-axis accelerometers whose error model is similar to tri-axis magnetometers.<\/jats:p>","DOI":"10.3390\/s17061223","type":"journal-article","created":{"date-parts":[[2017,5,30]],"date-time":"2017-05-30T04:35:42Z","timestamp":1496118942000},"page":"1223","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":22,"title":["Complete Tri-Axis Magnetometer Calibration with a Gyro Auxiliary"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4833-9065","authenticated-orcid":false,"given":"Deng","family":"Yang","sequence":"first","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China"},{"name":"State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China"}]},{"given":"Zheng","family":"You","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China"},{"name":"State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China"}]},{"given":"Bin","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China"},{"name":"State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China"}]},{"given":"Wenrui","family":"Duan","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China"},{"name":"State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China"}]},{"given":"Binwen","family":"Yuan","sequence":"additional","affiliation":[{"name":"Department of Precision Instrument, Tsinghua University, Beijing 100084, China"},{"name":"State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China"}]}],"member":"1968","published-online":{"date-parts":[[2017,5,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"12455","DOI":"10.3390\/s120912455","article-title":"Swarm optimization-based magnetometer calibration for personal handheld devices","volume":"12","author":"Ali","year":"2012","journal-title":"Sensors"},{"key":"ref_2","unstructured":"Gebre-Egziabher, D., Elkaim, G.H., Powell, J.D., and Parkinson, B.W. 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