An Optimized Fast Calibration Algorithm for Magnetic Sensor Arrays

Magnetic localization is widely used in applications like capsule robotics, where accurate calibration of magnetic sensor arrays is crucial. Traditional methods are time-consuming, requiring many known magnet poses, while existing rotational techniques are inefficient and demand specialized tools. To address these limitations, this paper proposes a fast calibration method based on a novel universal joint-based calibration tool. By reducing the number of optimization parameters from six to two, the method enables rapid calibration of magnetic sensor arrays. For a $4 \times 4$ sensor array, the average calibration time is under 40 seconds. Experimental results show an average position error of 1.96 mm and an average orientation error of 2.79°, demonstrating the effectiveness of the proposed method.