Compensation of magnetometers error based on nonlinear models for multimotor aerial robots applications

In this paper we describe the compensation of magnetometers error which are result of high current flows in their vicinity. This kind of errors can be found in multirotor applications where measurement unit is located in the platform center, while motors with propellers are mounted on a relatively short arms around the platform body. Varying current flows have an impact on magnetic field around the magnetometers what results in an apparent angular changes of the unmanned platform. In order to compensate this unwanted effect, we have builded nonlinear model relating motors control inputs with the magnetic field changes and employed it in a compensation scheme.