Szukana fraza: [Abstrakt = "The magnetometer sensors, manufactured in microelectromechanical system \(MEMS\) technology, due to small dimension, weight and price are used for the north direction determination in applications related to a mobile robotics. The quality of the rotation angle estimation is influenced by disturbances of the magnetic field caused by both the presence of hard ferromagnetic \(so\-called Hard\-Iron distortion\) and soft ferromagnetic materials \(so\-called Soft\-Iron distortion\). The article presents the idea of heading angle estimation, magnetometer calibration procedure and compares three selected compensative algorithms of Hard\-Iron distortion. Described methods differ in complexity, numerical cost and efficiency. The presented methods vary in complexity, numerical expense and efficiency."]

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