Magnetometer Bias Finite-Time Estimation Using Gyroscope Data

This paper deals with the problem of estimating the hard iron bias affecting the measurements provided by a triaxial magnetometer. The estimation is carried out using measurements from a magnetometer and a gyroscope mounted on the same inertial measurement unit. The described solutions ensure finite-time estimation performance and robustness against measurements noise. The effectiveness of the proposed solutions is proved by experimental tests carried out using real inertial sensors.