Magnetic Calibration Manual
Xsens MTi User Manual Repository
Magnetic Calibration Manual
Copyright © 2021 Xsens Page 30
Effects of Representative Motion on magnetic field measurements.
In-Run Compass Calibration (ICC)
Similar to the Magnetic Field Mapper and Representative Motion, In-run Compass Calibration
(ICC) provides a solution to calibrate the sensor for magnetic distortions caused by objects
that move with the MTi. However, in contrast to the (single-run) Magnetic Field Mapper and
Representative Motion, ICC is a feature that is continuously running in the background of the
onboard filters of the MTi in order to improve magnetometer calibration for hard and soft iron
effects.
ICC can be used as an alternative for, or in addition to, a calibration performed by the
Magnetic Field Mapper and Representative Motion. It results in a solution that can run
embedded (leaving out the need for a host processor like a PC) and relies less on specific
user input. The Magnetic Field Mapper, which does require a host processor, is, however, still
recommended over or in addition to the ICC. The ICC feature is aimed at:
Applications for which the MFM solution cannot be used (e.g. embedded MTi-1 series that
cannot be connected to a PC);
Applications for which a single MFM calibration is not sufficient (e.g. applications that
move outside of the plane of motion used during the MFM calibration), or when the user
uses the same MFM result performed for one sensor to calibrate different sensors (typical
for large volume applications).
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