Introduction: Easy Hard and Soft Iron Magnetometer Calibration

If your hobby is RC, drones, robotics, electronics, augment reality or similar then sooner or later you will meet with the task of magnetometer calibration. Any magnetometer module must be calibrated, because the measurement of magnetic field subjected to some distortions. There are two kinds of these distortions: the hard iron distortions and the soft iron distortions. The theory about these distortions you can find here. To get the accurate measurements you should calibrate magnetometer for hard and soft iron distortions. This instructable describes the easy way how to do it.

Step 1: Stuff You Need


*But you can easily adopt this instructable for another magnetometer module or arduino board.



*This sketch is written for the HMC5883L module, but you can easily adopt it for your module.


Step 2: Making the Calibration Box

For the calibration process you should make the special calibration box (picture 2.1). For making this I used a paper box, but you can use a plastic one, a wooden bar or something else too. You should join the magnetometer module with the box (for example with glue) as shown in the picture 2.1. On the faces of the box you should draw the coordinate system according to the coordinate system of the magnetometer module.

Step 3: Electrical Connection

Connect the magnetometer module and arduino board as shown in the picture 3.1. Note that the supply voltage of magnetometer module can be 3,3 V (as in my case with HMC5883L GY-273 version).

Step 4: Installing the Software and Firmware

Download the software and firmware here.
This archive contains files:

  • MagMaster.exe - the magnetometer calibration program
  • MagViewer.exe - the magnetometer measurements visualisation program
  • Arduino_Code - the arduino sketch for the calibration process
  • Arduino_Test_Results - the arduino sketch for testing calibration results
  • Arduino_Radius_Stabilisation - the arduino sketch for testing calibration results with sphere radius stabilization algorithm
  • MagMaster Files and MagViewer Files - the system files for MagMaster.exe and MagViewer.exe

Copy all these files to any folder. Upload the "Arduino_Code" sketch to the arduino board. This arduino sketch requires the HMC5883L library, copy the folder "HMC5883L" (placed in "Arduino_Code" folder) to the folder "C:\Program Files\Arduino\libraries" before sketch uploading.

Step 5: Calibration


Calibration of magnetometer is the process of getting the transformation matrix and bias.

To get the calibrated measurements of the magnetic field you should use these transformation matrix and bias in your program. In your algorithm you should apply the bias to the vector of non calibrated magnetometer data (X, Y, Z coordinates) and then multiply the transformation matrix by this resulting vector (picture 5.4). The C algorithm of these calculations you can find in "Arduino_Test_Results" and "Arduino_Radius_Stabilization" sketches.

Calibration process

Run MagMaster.exe and select the serial port of the arduino board. The green strings on the program window indicates the coordinates of magnetometer vector (picture 5.1).

Place the magnetometer module (calibration box with attached magnetometer module) as shown on the picture 5.2.1 and click "Point 0" button of the "Axis X+" groupbox. Note that the calibration box is not stationary relatively to fixed horizontal plane. Then place the magnetometer as shown on the picture 5.2.2 and click "Point 180" button of the "Axis X+" groupbox and so on. You should do in the following way (see picture 5.3 too):

  • Picture 5.2.1: "Point 0", "Axis X+"
  • Picture 5.2.2: "Point 180", "Axis X+"
  • Picture 5.2.3: "Point 0", "Axis X-"
  • Picture 5.2.4: "Point 180", "Axis X-"
  • Picture 5.2.5: "Point 0", "Axis Y+"
  • Picture 5.2.6: "Point 180", "Axis Y+"
  • Picture 5.2.7: "Point 0", "Axis Y-"
  • Picture 5.2.8: "Point 180", "Axis Y-"
  • Picture 5.2.9: "Point 0", "Axis Z+"
  • Picture 5.2.10: "Point 180", "Axis Z+"
  • Picture 5.2.11: "Point 0", "Axis Z-"
  • Picture 5.2.12: "Point 180", "Axis Z-"

You should fill the table. After that click "Calculate Transformation Matrix and Bias" and get the transformation matrix and bias (picture 5.3).

The transformation matrix and bias are got! The calibration is complete!

Step 6: Testing and Visualisation

The non calibrated measurements visualisation

Upload the "Arduino_Code" sketch to the arduino board. Run the MagViewer.exe, select the serial port of the arduino board (the boud rate of the seraial port should be 9600 bps) and click "Run MagViewer". Now you can see the coordinates of the magnetometer data vector in 3D space on a real-time (picture 6.1, video 6.1, 6.2). These measurements are non calibrated.

The calibrated measurements visualisation

Edit the "Arduino_Radius_Stabilization" sketch, replace the default transformation matrix and bias data with your obtained during calibration data (your transformation matrix and bias). Upload "Arduino_Radius_Stabilization" sketch to the arduino board. Run the MagViewer.exe, select serial port (the boud rate is 9600 bps), click "Run MagViewer". Now you can see the calibrated measurements in 3D space on a real-time (picture 6.2, video 6.3, 6.4).

By using these sketches you can easy write the algorithm for your magnetometer project with calibrated measurements!


Muhammad AtifS1 (author)2017-03-16

my magviewer have no information.please check the image.

i Select the correct COM Port. the Baud rate is can check in the code.

only one thing is different that i am passing the integer value to the serial. you can also check the output on the arduino serial image.

m4rv1nc (author)Muhammad AtifS12017-04-25

same thing for me, MagViewer is empty. Serial monitor is talking..

Maybe a Unity or Windows issues ?

nidhink299 (author)m4rv1nc2017-06-16

Can you solve this issue?. could u please reply as soon as possible I am also stuck


the same thing happened to me also. How you solve this issue.

d madhuS (author)2015-11-20

I had calibrated the magnetometer data.

I am able to see the sphere after calibration by as per

IGRF data ( at my location Magnetic field intensity is 0.42Gauss but after calibration the Magnetic field intensity is 0.46Gauss.

How to get my data close to IGRF data.

AlyssonR2 (author)d madhuS2015-12-14

This method corrects for differences in the individual magnetometer sensors, but is not a callibration method on its own. If you are performing geomagnetometric measurements, you need to take the magnetometer to a location away from stray magnetic fields and take some readings. These (when averaged) will be Br and the IGRF field intensity at that location will be Bi

The calibrated value Bc for any arbitrary measurement B will then be given by:

Bc = B * Bi/Br

YuriMat (author)d madhuS2015-11-20

This calibration algorithm is created for the direction of magnetic field finding.
It is has no enough accuarcy for the magnetic field intensity finding.

d madhuS (author)YuriMat2015-11-20

Can you suggest any algorithm for finding magnetic field intensity

nwanda (author)2015-09-23

I tried using this program to calibrate my HMC5883L. Since the magnetometer inside a robot with some metal components around I had to change the gain of the HMC5883L since witht he previous one it was saturating (overflow in some of the registers).

However I'm now unable to calibrate the magnetometer with this program. After calibration, I change the matrix and offset of the "test_result" arduino sketch and plot the data with the magViewer and it still shows up displaced.

Added an image of one of the calibration attemps.

YuriMat (author)nwanda2015-09-24


can you add the screenshots of the MagViewer data before and after calibration?

d madhuS (author)YuriMat2015-11-20

I had calibrated the magnetometer data.

I am able to see the sphere after calibration by as per

data ( at my location
Magnetic field intensity is 0.42Gauss but after calibration the Magnetic
field intensity is 0.46Gauss.

How to get my data close to IGRF data.

nwanda (author)YuriMat2015-09-24

The first is before calibration and the second one after.

As you can see the offsets are off and the soft iron effects are not completly corrected.

YuriMat (author)nwanda2015-09-24

I do not understand why it happens. Can you add the MagViewer screenshots before and after calibration something like these (projection view):


waymond91 (author)2015-08-30

This is awesome and solves a big problem!
I will have to give it a try.
I have had a lot of trouble with this in the past. So much so that I went through the math and wrote this paper:

Here was the origial post:

carlos joaquinp (author)2015-08-27

Quiero realizar este proyecto tan interesante

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