Abstract
In this paper, two important sources of the non-orthogonal errors of triaxial magnetometers were analysed. The non-orthogonal error mainly come from the transverse sensitivity of uniaxial sensor or non-orthogonality between the three axes of magnetic magnetometer. These two error sources were separated by mathematical analysis. Then a two-step calibration method of triaxial magnetometers was designed. It showed that the peak-to-peak value of the calculated result of the scalar of magnetic field could be reduced to 56nT from 350nT within the range of 50000nT.
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