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A novel planar magnetic field sensor is presented that is based on a combined flux-gate/Hall-effect arrangement capable of measuring the three components of a three-dimensional quasi-static magnetic field. The proposed device involves a thin, isotropic, circular magnetic core, the magnetization of which is driven to saturation by means of a rotating excitation-field, produced by four printed planar coils. That way, the core magnetization rotates, without Barkhausen jumps inducing a flux-density change that is sensed by a Hall device positioned at the edge of the core. The presented sensor consists of a discrete Hall device, electronic modulation-demodulation circuitry and a circular amorphous core packaged on a printed circuit board (PCB), constructed as a proof of concept for the proposed magnetic field measuring method.