Magnetometer data fusion algorithms performance in indoor navigation: Comparison, calibration and testing

This article describes usage of magnetometer sensors in data fusion algorithms for indoor navigation. A wireless sensor device was created to perform experiments. Multiple sensors were tested and their performance is compared among each other. The calibration algorithms are introduced and applied on the measurements while the results are compared. Finally, the magnetometer data are used to control gyroscopically stabilized platform and the performance of the stabilization is discussed. In the article we introduce a method for automatic compensation of the magnetometer induced errors and provide data which led to the method definition.