Method for self-calibrating multiple field sensors having three or more sensing axes and system performing the same

A computer-readable recording medium having a computer program recorded thereon, the computer program execatable by a processor to cause the processor;

• to obtain m measured values for each field sensor by measuring with respect to a first sensor group including first type of field sensors and a second sensor group including different second type of field sensors, which are attached to a rigid body, at m time steps, wherein m is a natural number of 2 or more;
• and
• to calibrate a sensor frame of the first type of field sensor and a sensor frame of the second type of field sensor by using a correlation between the first type of field sensor and the second type of field sensor based on measured values of at least some of the m time steps.

A system comprising:

• multiple field sensors outputting m measured values by measuring the measured values at m time steps and including a first type of field sensor and a different second type of field sensor which are attached to rigid bodies, wherein m is a natural number of 2 or more;
• and
• a computing device including a processor configured to obtain m measured values from each of the multiple field sensors and to calibrate a sensor frame of the first type of field sensor and a sensor frame of the second type of field sensor using a correlation between the first type of field sensor and the second type of field sensor.