New calibration and error compensation for strapdown magnetometer

A new method is proposed for strapdown attitude-independent magnetometer calibration, which is based on the comparison of previous approaches. The calibration estimates the scale factors, nonorthogonality, and constant bias. The unique contribution of this presentation is the derivation of nonorthogonality model, which is different from the models in the published references and is derived from the view of spatial analytical geometry. Two mathematical models were proposed and only one model is verified to suitable for practical calibration, the other is too complicated to calculate the compensation parameters. These models and calibration methods are written in the sensor frame, furthermore the estimation methods are verified using MATLAB, the simulation results show that this model and estimation method can be applied to other platforms.