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I'm Trying to calibrate a Magnetometer

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Behnam replied to William Premerlani's discussion Automatic nulling of magnetometer offsets
Really thank you for this clear help and guidance.

I've a basic Problem in this Theory...
How can I have Direction Cosine Matrix ? is it change or it's constant ?
Now I have sensor output data but I don't know exactly how should I make DCM to…"
Aug 16, 2010