@article {19,
	title = {Calibration of Strapdown Magnetometers in the Magnetic Field Domain},
	journal = {ASCE Journal of Aerospace Engineering},
	volume = {19},
	year = {2006},
	month = {04/2006},
	chapter = {1},
	abstract = {This paper presents an algorithm for calibrating strapdown magnetometers in the magnetic field domain. In contrast to the traditional method of compass swinging, which computes a series of heading correction parameters and thus is limited to use with two-axis systems, this algorithm estimates magnetometer output errors directly. Therefore, this new algorithm can be used to calibrate a full three-axis magnetometer triad. The calibration algorithm uses an iterated, batch least-squares estimator that is initialized using a two-step nonlinear estimator. The algorithm is simulated to validate convergence characteristics and further validated on experimental data collected using a magnetometer triad. It is shown that the postcalibration residuals are small and result in a system with heading errors on the order of 1 to 2 degrees.},
	doi = {10.1061/(ASCE)0893-1321(2006)19:2(87)},
	author = {Demoz Gebre-Egziabher and Gabriel H Elkaim}
}
