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Online Three-Axis Magnetometer Hard-Iron and Soft-Iron Bias and Angular Velocity Sensor Bias Estimation Using Angular Velocity Sensors for Improved Dynamic Heading Accuracy

Andrew R. Spielvogel, Abhimanyu S. Shah, Louis L. Whitcomb. Online Three-Axis Magnetometer Hard-Iron and Soft-Iron Bias and Angular Velocity Sensor Bias Estimation Using Angular Velocity Sensors for Improved Dynamic Heading Accuracy. Field Robotics, 2(1):1001-1027, March 2022. [doi]

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