Calibration of a magnetometer array using motion capture equipment

This paper studies the problem of calibrating an array of single-axis magnetometers in an unknown static inhomogeneous magnetic field using motion capture equipment. A proof of identifiability is given, practical identifiability of calibration parameters is established in simulation, and real world experiments are conducted to demonstrate the feasibility of this approach. Unlike many techniques of the state of the art, the proposed solution does not require a homogeneous field, as in fact, we demonstrate that an inhomogeneous field enlarges the set of identifiable parameters. Under the above-mentioned assumptions, this approach may be used to extend self-calibration techniques of visual-inertial setups to magnetic sensor arrays in indoor environments.