Online 3-Axis Magnetometer Hard-Iron and Soft-Iron Bias and Angular Velocity Sensor Bias Estimation Using Angular Velocity Sensors for Improved Dynamic Heading Accuracy

Andrew R. Spielvogel, Abhimanyu S. Shah, Louis L. Whitcomb

This article addresses the problem of dynamic on-line estimation and compensation of hard-iron and soft-iron biases of 3-axis magnetometers under dynamic motion in field robotics,…