Estimation result of the <i>b</i>_<i>z</i> filter.

<p>Estimation result of the <i>b</i>_<i>z</i> filter.</p

Strength of geomagnetic field before & after compensation.

<p>Strength of geomagnetic field before & after compensation.</p

Magnetic field produced by induced magnetic moment at <i>p</i> point.

<p>(A) Induction field produced by magnetic moment <i>M</i>_<i>x</i> at point <i>p</i>. (B) Induction field produced by magnetic moment <i>M</i>_<i>y</i> at point <i>p</i>. (C) Induction field produced by magnetic moment <i>M</i>_<i>z</i> at point <i>p</i>.</p

Differential value before & after the signal compensation.

<p>Differential value before & after the signal compensation.</p

Estimation result of the <i>b</i>_<i>x</i> filter.

<p>Estimation result of the <i>b</i>_<i>x</i> filter.</p

Magnetic sensor’s ideal and real coordinates.

<p>Magnetic sensor’s ideal and real coordinates.</p

Differential value before & after the signal compensation.

<p>Differential value before & after the signal compensation.</p

Estimation results of matrix <i>C</i>’s parameters.

<p>(A) Extended Kalman filter. (B) Recursive least square.</p

Transformation between magnetic sensor’s coordinates and carrier’s coordinates.

<p>(A) Rotate around x-axis. (B) Rotate around y-axis. (C) Rotate around z-axis.</p

Estimation result of the <i>b</i>_<i>y</i> filter.

<p>Estimation result of the <i>b</i>_<i>y</i> filter.</p