3-Axis Compass Sensor Set

HMC1055
The Honeywell HMC1055 is a 3-axis compass sensor chipset
that combines the HMC1051Z single-axis and the HMC1052
two-axis magneto-resistive sensors, plus a two-axis MEMSIC
MXS3334UL accelerometer in a single kit. By combining
these three sensor packages, OEM compass system
designers will have the building blocks needed to create their
own tilt compensated compass designs using these proven
components.

The HMC1055 chip set includes the three sensor integrated

circuits and this datasheet describes the application notes for
sensor function, a reference design, and design tips for integrating the compass feature into other product platforms.
Honeywell’s Magnetoresistive (AMR) sensor technology provides advantages over coil based magnetic sensors and are
among the most sensitive and reliable low-field sensors in the industry. The MEMSIC accelerometer offers a low cost,
high performance tilt sensor (inclinometer) function using its unique thermal chimney effect.

Honeywell continues to maintain product excellence and performance by introducing innovative solid-state magnetic
sensor solutions. These are highly reliable, top performance products that are delivered when promised. Honeywell’s
magnetic sensor solutions provide real solutions you can count on.

FEATURES BENEFITS

4 Three Precision Sensor Components 4 AnSensors

Easy Way to Acquire the Critical Tilt Compensated Compass
in One Purchase

4 Single Z-Axis AMR Sensor (HMC1051Z) 4 Easy to Assemble Component

4 Two-Axis AMR Sensor (HMC1052) 4 Leaded MSOP-10 Package for Small Size
4 Two-Axis MEMS Accelerometer
(MXS3334UL)
4 Low Cost, High Performance Tilt Sensor

4 Low Cost Chipset 4 Affordable Chipset for Designers, Low Volume Designs
4 Reference Design Included 4 Aimed for Moderate Accuracy Compassing
4 Available in Tape & Reel Packaging 4 Easy Transition to Production
HMC1055
SPECIFICATIONS– MAGNETIC SENSORS HMC1051Z, HMC1052
Characteristics Conditions* Min Typ Max Units
Bridge Elements
Supply Vbridge referenced to GND 1.8 2.5 20 Volts
Resistance Bridge current = 1mA 800 1000 1500 ohms
Field Range Full scale (FS) – total applied field -6 +6 gauss
Sensitivity Set/Reset Current = 0.5A 0.8 1.0 1.2 mV/V/gauss
Bridge Offset Offset = (OUT+) – (OUT-) -1.25 ±0.5 +1.25 mV/V
Field = 0 gauss after Set pulse
Bandwidth Magnetic signal (lower limit = DC) 5 MHz
Noise Density @ 1kHz, Vbridge=5V 50 nV/sqrt Hz
Resolution 50Hz Bandwidth, Vbridge=5V 120 µgauss
Disturbing Field Sensitivity starts to degrade. 20 gauss
Use S/R pulse to restore sensitivity.
Max. Exposed No perming effect on zero reading 10000 gauss
Field
Operating Ambient -40 125 °C
Temperature
Storage Ambient, unbiased -55 150 °C
Temperature
Sensitivity TA=-40 to 125°C, Vbridge=5V -3000 -2700 -2400 ppm/°C
Tempco TA=-40 to 125°C, Ibridge=5mA -600
Bridge Offset TA=-40 to 125°C, No Set/Reset ±500 ppm/°C
Tempco TA=-40 to 125°C, With Set/Reset ±10
Bridge Ohmic Vbridge=5V, TA=-40 to 125°C 2100 2500 2900 ppm/°C
Tempco
Sensitivity Ratio of TA=-40 to 125°C 95 101 105 %
X,Y Sensors
(HMC1052 Only)
X,Y sensor Sensitive direction in X and Y sensors 0.01 degree
Orthogonality
(HMC1052)
Linearity Error Best fit straight line
± 1 gauss 0.1
± 3 gauss 0.5 %FS
± 6 gauss 1.8
Hysteresis Error 3 sweeps across ±3 gauss 0.06 %FS
Repeatability Error 3 sweeps across ±3 gauss 0.1 %FS
* Tested at 25°C except stated otherwise.

2 www.honeywell.com
HMC1055
SPECIFICATIONS – MAGNETIC SENSORS HMC1051Z, HMC1052
Characteristics Conditions* Min Typ Max Units
Set/Reset Strap
Resistance Measured from S/R+ to S/R- 3 4 5 ohms
Current 0.1% duty cycle, or less, 0.4 0.5 4 Amp
2µsec current pulse
Resistance TA= -40 to 125°C 3700 ppm/°C
Tempco
Offset Straps (available on die)
Resistance Measured from OFFSET+ to OFFSET- 12 15 18 ohms
Offset DC Current 10 mA/gauss
Constant Field applied in sensitive direction
Resistance TA= -40 to 125°C 3900 ppm/°C
Tempco
* Tested at 25°C except stated otherwise.

SPECIFICATIONS – ACCELEROMETER MXS3334UL

Characteristics Conditions* Min Typ Max Units
Sensor Input
Range ±1 g
Non-Linearity Best fit straight line 0.5 1.0 % of FS
Alignement Error ±1.0 degree
Transverse ±2.0 %
Sensitivity
Sensitivity (Each Axis)
Digital Outputs Vdd = 5.0 volts 19.00 20.00 21.00 %Duty
Cycle/g
Change Over -40°C, Uncompensated +100 %
Temperature +105°C, Uncompensated -50
Compensated (-40°C to +105°C) < 3.0
∆ from 25°C
Resistance TA= -40 to 125°C 3900 ppm/°C
Zero g Bias Level (Each Axis)
0 g Offset -0.1 0.00 +0.1 g
0 g Duty Cycle 48 50 52 % Duty Cycle
0 g Offset Over ∆ from 25°C ±0.75 mg/°C
Temperature ∆ from 25°C, based on 20%/g ±0.015 %/°C
Performance
Noise Density rms 0.2 0.4 mg/sqrt-Hz
Frequency 3dB Bandwidth 25 Hz
Response
Tested at 25°C except stated otherwise.

www.honeywell.com 3
HMC1055
SPECIFICATIONS - MXS3334UL
Characteristics Conditions* Min Typ Max Units
Voltage Reference
Vref Vdd = 2.7 to 5.0 2.4 2.5 2.65 volts
Change Over 0.1 mV/°C
Temperature
Current Drive Source 100 µA
Capability
Self Test
Continuous Vdd = 5.0 volts, DOUTX and DOUTY 5.0 volts
Voltage Under Vdd = 2.7 volts, DOUTX and DOUTY 2.7
Failure
Digital Outputs (DOUTX and DOUTY)
Normal Range Vdd = 5.00 volts 0.1 4.9 volts
Vdd = 2.7 volts 0.1 2.6
Current Source or Sink (Vdd =2.7 to 5.0v) 100 µA
Rise/Fall Time Vdd = 2.7 to 5.0 volts 90 100 110 ηsec
Turn-On Time Vdd = 5.0 volts 100 msec
Vdd = 2.7 volts 40
Power Supply
Operating Voltage 2.7 5.25 volts
Range
Supply Current Vdd = 5.0 volts 3.0 3.6 4.2 mA
Vdd = 2.7 volts 4.0 4.9 5.8
Temperature
Operating Range -40 +105 °C
Storage Range -65 +150 °C
Tested at 25°C except stated otherwise.

Pin Configurations (Arrow indicates direction of applied field that generates a positive output voltage after a SET pulse.)
HMC1051
Vcc
(3)
HMC1051Z Pinout
HMC1051
HONEYWELL
HMC1051Z
BRIDGE A BRIDGE B

1 2 3 4 5 6 7 8
Vo+(A) Vo-(A) GND1(B) GND2(B)
GND Plane
(2) (8) (1) (5)
(4)

Set/Reset Strap
S/R+ S/R-
(6) (7)

4 www.honeywell.com
HMC1055
HMC1052
HMC1052 Pinout
Vcc
(5)
10 9 8 7 6

HMC1052
B
BRIDGE A BRIDGE B
HMC A

1052

OUT- GND2 GND1 OUT+ OUT- GND OUT+

(10) (9) (3) (4) (7) (1) (2)
1 2 3 4 5
Set/Reset Strap
S/R+ S/R-
(6) (8)

MXS3334UL

(7) Sck Internal Temperature

TOUT (1)
(optional) Oscillator Sensor
8
Voltage
CLK Reference
VREF (6) 1 7
X +g

M EM SIC
Continous
Heater Self Test 2 6
Control

Low Pass 3 5
X axis
Filter
DOUTX (5)
4
Factory Adjust
Offset & Gain
Y +g
Y axis
Low Pass
DOUTY (2) Top View
Filter
2-AXIS
SENSOR

VDD Gnd VDA

(8) (3) (4)

Pin Descriptions
HMC1051Z
Pin Name Description
1 GND1(B) Bridge B Ground 1 (normally left open)
2 Vo+(A) Bridge Output Positive
3 Vcc Bridge Positive Supply
4 GND Plane Bridge Ground (substrate)
5 GND2(B) Bridge B Ground 2 (normally left open)
6 S/R+ Set/Reset Strap Positive
7 S/R- Set/Reset Strap Negative
8 Vo-(A) Bridge Output Negative

www.honeywell.com 5
HMC1055
HMC1052
Pin Name Description
1 GND Bridge B Ground
2 OUT+ Bridge B Output Positive
3 GND1 Bridge A Ground 1
4 OUT+ Bridge B Output Positive
5 Vcc Bridge Positive Supply
6 S/R+ Set/Reset Strap Positive
7 OUT- Bridge B Output Negative
8 S/R- Set/Reset Strap Negative
9 GND2 Bridge A Ground 2
10 OUT- Bridge A Output Negative

MXD3334UL
Pin Name Description
1 TOUT Temperature (Analog Voltage)
2 DOUTY Y-Axis Acceleration Digital Signal
3 Gnd Ground
4 VDA Analog Supply Voltage
5 DOUTX X-Axis Acceleration Digital Signal
6 Vref 2.5V Reference
7 Sck Optional External Clock
8 VDD Digital Supply Voltage

Package Dimensions
HMC1051Z

Millimeters Inches x 10E-3

Symbol
Min Max Min Max
A 1.371 1.728 54 68
A1 0.101 0.249 4 10
B 0.355 0.483 14 19
D 9.829 11.253 387 443
E 3.810 3.988 150 157
e 1.270 ref 50 ref
H 6.850 7.300 270 287
h 0.381 0.762 15 30

HMC1052

Millimeters Inches x 10E-3

Symbol
Min Max Min Max
A - 1.10 - 43
A1 0.05 0.15 2.0 5.9
B 0.15 0.30 5.9 11.8
D 2.90 3.10 114 122
E1 2.90 3.10 114 122
e 0.50 BSC 2.0 BSC
E 4.75 5.05 187 199
L1 0.95 BSC 37.4

6 www.honeywell.com
HMC1055
MXS3334UL

Application Notes
The HMC1055 Chipset is composed of three sensors packaged as integrated circuits for tilt compensated electronic
compass development. These three sensors are composed of a Honeywell HMC1052 two-axis magnetic field sensor, a
Honeywell HMC1051Z one-axis magnetic sensor, and the Memsic MXS3334UL two-axis accelerometer. Traditionally,
compassing is done with a two-axis magnetic sensor held level (perpendicular to the gravitational axis) to sense the
horizontal vector components of the earth’s magnetic field from the south pole to the north pole. By incorporating a third
axis magnetic sensor and the two-axis accelerometer to measure pitch and roll (tilt), the compass is able to be
electronically “gimbaled” and can point to the north pole regardless of level.

The HMC1052 two-axis magnetic sensor contains two Anisotropic Magneto-Resistive (AMR) sensor elements in a single
MSOP-10 package. Each element is a full wheatstone bridge sensor that varies the resistance of the bridge magneto-
resistors in proportion to the vector magnetic field component on its sensitive axis. The two bridges on the HMC1052 are
orientated orthogonal to each other so that a two-dimensional representation of an magnetic field can be measured. The
bridges have a common positive bridge power supply connection (Vb); and with all the bridge ground connections tied
together, form the complete two-axis magnetic sensor. Each bridge has about an 1100-ohm load resistance, so each
bridge will draw several milli-amperes of current from typical digital power supplies. The bridge output pins will present a
differential output voltage in proportion to the exposed magnetic field strength and the amount of voltage supply across
the bridge. Because the total earth’s magnetic field strength is very small (~0.6 gauss), each bridge’s vector component of
the earth’s field will even be smaller and yield only a couple milli-volts with nominal bridge supply values. An
instrumentation amplifier circuit; to interface with the differential bridge outputs, and to amplify the sensor signal by
hundreds of times, will then follow each bridge voltage output.

The HMC1051Z is an additional magnetic sensor in an 8-pin SIP package to place the sensor silicon die in a vertical
orientation relative to a Printed Circuit Board (PCB) position. By having the HMC1052 placed flat (horizontal) on the PCB
and the HMC1051Z vertical, all three vector components of the earth’s magnetic field (X, Y, and Z) are sensed. By having
the Z-axis component of the field, the electronic compass can be oriented arbitrarily; and with a tilt sensor, perform tilt-
compensated compass heading measurements as if the PCB where perfectly level.

www.honeywell.com 7
HMC1055

C1
Vdd 150P

R1
1.00MEG
R1A R2A
R2 DO0
Vdd
4.99K
7 6
1 VCC

5
VEE
X1
R4
2
MICRO-
LMV324M
4.99K CONTROLLER
Vdd
R3A R4A
R3
VDD
1.00MEG
R12 SCK
Vref 10K CS
C2
Vref RXD
HMC1052 150P
TXD
R5 R13
1.00MEG 10K
R1B R2B
R6 AN0
Vdd
4.99K
10 11 AN1
13 VCC

14 AN2 DI0
VEE

12 X2
AN3 GND DI1
R8 LMV324M
4.99K C6
R3B R4B
R7 0.1U Vdd
1.00MEG
Vref
R10
C7
C4 10
Rsr1 R9 0.1U
4 1U 220 Vdd
18
8 9
NC

C3 15 VDD VREF VDA

X4
0.22U
IRF7509P
16
X5 DOUTY
IRF7509N
Rsr2
4 MXS3334UL
TOUT
HMC1051Z NC
C5
150P DOUTX
Vdd
R18 GND SCK
1.00MEG
R14Z R15Z
R19
Vdd
4.99K
22 21 24 VCC

25
VEE

23 X3
R21 LMV324M
4.99K Figure 1
R16Z R17Z R20
1.00MEG 3-Axis Compass Reference Design
Vref

8 www.honeywell.com
HMC1055
The MXS3334UL is a two-axis accelerometer in an 8-pin LCC package that provides a digital representation of the earth’s
gravitational field. When the MXS3334UL is held level and placed horizontally on a PCB, both digital outputs provide a
100 Hz Pulse Width Modulated (PWM) square wave with a 50 percent duty cycle. As the accelerometer is pitched or
rolled from horizontal to vertical, the Doutx and Douty duty cycles will shift plus or minus 20% of its duty from the 50%
center point.

The reference design in Figure 1 shows a reference design incorporating all three sensor elements of the HMC1055
chipset for a tilt compensated electronic compass operating from a 5.0 volt regulated power supply described as Vdd. The
HMC1052 sensor bridge elements A and B are called out as R1A, R2A, R3A, R4A, and R1B, R2B, R3B, R4B
respectively; and create a voltage dividing networks that place nominally 2.5 volts into the succeeding amplifier stages.
The HMC1051Z sensor bridge elements R14Z, R15Z, R16Z, and R17Z also do a similar voltage dividing method to its
amplifier stage.

In this design each amplifier stage uses a single operational amplifier (op-amp) from a common LMV324M quad op-amp
Integrated Circuit (IC). For example, resistors R1, R2, R3, and R4 plus capacitor C1 configure op-amp X1 into an
instrumentation amplifier with a voltage gain of about 200. These instrumentation amplifier circuits take the voltage
differences in the sensor bridges, and amplify the signals for presentation at the micro-controller Analog to Digital
Converter (ADC) inputs, denoted as AN1, AN2, and AN3. Because the zero magnetic field reference level is at 2.5 volts,
each instrumentation amplifier circuit receives a 2.5 volt reference voltage (Vref) from a resistor divider circuit composed
of R12 and R13.

For example, a +500 milli-gauss earth’s field on bridge A of the HMC1052 will create a 2.5 milli-volt difference voltage at
the sensor bridge output pins (0.5 gauss multiplied by the 1.0mV/V/gauss sensitivity rating). This 2.5mV then is multiplied
by 200 for 0.5 volt offset that is referenced to the 2.5 volt Vref for a total of +3.0 volts at AN1. Likewise any positive and or
negative magnetic field vectors from bridge B and the HMC1051Z bridge are converted to voltage representations at AN2
and AN3.

The micro-controller also receives the sensor inputs from the MXS3334UL accelerometer directly from Doutx and Douty
into two digital inputs denoted as DI0 and DI1. Optionally, the MXS3334UL temperature output pin (Tout) can routed to
another microcontroller ADC input for further temperature compensation of sensor inputs. Power is supplied to the
MXS3334UL from the 5.0 volt Vdd source directly to the accelerometer VDA pin and on to the VDD pin via a ten ohm
resistor (R10) for modest digital noise decoupling. Capacitors C6 and C7 provide noise filtering locally at the
accelerometer and throughout the compass circuit.

The set/reset circuit for this electronic compass is composed of MOSFETs X4 and X5, capacitors C3 and C4, and resistor
R9. The purpose of the set/reset circuit is to re-align the magnetic moments in the magnetic sensor bridges when they
exposed to intense magnetic fields such as speaker magnets, magnetized hand tools, or high current conductors such as
welding cables or power service feeders. The set/reset circuit is toggled by the microcontroller and each logic state
transition creates a high current pulse in the set/reset straps for both HMC1052 and the HMC1051Z.

Operational Details

With the compass circuitry fully powered up, sensor bridge A creates a voltage difference across OUTA- and OUTA+ that
is then amplified 200 times and presented to microcontroller analog input AN1. Similarly, bridges B and C create a voltage
difference that is amplified 200 times and presented to microcontroller analog inputs AN2 and AN3. These analog
voltages at AN1 and AN2 can be thought of as “X” and “Y” vector representations of the magnetic field. The third analog
voltage (AN3) plus the tilt information from accelerometer, is added to the X and Y values to create tilt compensated X
and Y values, sometimes designated X’ and Y’.

To get these X, Y, and Z values extracted, the voltages at AN1 through AN3 are to be digitized by the microcontroller’s
onboard Analog-to-Digital Converter (ADC). Depending on the resolution of the ADC, the resolution of the Compass is
set. Typically compasses with one degree increment displays will have 10-bit or greater ADCs, with 8-bit ADCs more
appropriate for basic 8-cardinal point (North, South, East, West, and the diagonal points) compassing. Individual
microcontroller choices have a great amount of differing ADC implementations, and there may be instances where the
ADC reference voltage and the compass reference voltage can be shared. The point to remember is that the analog
voltage outputs are referenced to half the supplied bridge voltage and amplified with a similar reference.

The most often asked question on AMR compass circuits is how frequent the set/reset strap must be pulsed. The answer
for most low cost compasses is fairly infrequently; from a range of once per second, to once per compass menu selection
by the user. While the set circuit draws little energy on a per pulse basis, a constant one pulse per second rate could draw
down a fresh watch battery in less than a year. In the other extreme of one “set” pulse upon the user manually requesting

www.honeywell.com 9
HMC1055
a compass heading, negligible battery life impact could be expected. From a common sense standpoint, the set pulse
interval should be chosen as the shortest time a user could withstand an inaccurate compass heading after exposing the
compass circuit to nearby large magnetic sources. Typical automatic set intervals for low cost compasses could be once
per 10 seconds to one per hour depending on battery energy capacity. Provision for a user commanded “set” function
may be a handy alternative to periodic or automatic set routines.

In portable consumer electronic applications like compass-watches, PDAs, and wireless phones; choosing the appropriate
compass heading data flow has a large impact on circuit energy consumption. For example, a one heading per second
update rate on a sport watch could permit the compass circuit to remain off to nearly 99 percent of the life of the watch,
with just 10 millisecond measurement snapshots per second and a one per minute set pulses for perming correction. The
HMC1052 and HMC1051Z sensors have a 5 MHz bandwidth in magnetic field sensing, so the minimum snapshot
measurement time is derived principally by the settling time of the op-amps plus the sample-and-hold time of the
microcontroller’s ADCs.

In some “gaming” applications in wireless phones and PDAs, more frequent heading updates permits virtual reality sensor
inputs for software reaction. Typically these update rates follow the precedent set more than a century ago by the motion
picture industry (“Movies”) at 20 updates or more per second. While there is still some value in creating off periods in
between these frequent updates, some users may choose to only switch power on the sensor bridges exclusively and
optimize the remainder of the circuitry for low power consumption.

Compass Firmware Development

To implement an electronic compass with tilt compensation, the microcontroller firmware must be developed to gather the
sensor inputs and to interpret them into meaningful data to the end user system. Typically the firmware can be broken into
logical routines such as initialization, sensor output collection and raw data manipulation, heading computation, calibration
routines, and output formatting.

For the sensor output data collection, the analog voltages at microcontroller inputs AN0 through AN3 are digitized and a
“count” number representing the measured voltage is the result. For compassing, the absolute meaning of the ADC
counts scaled back to the sensor’s milli-gauss measurement is not necessary, however it is important to reference the
zero-gauss ADC count level. For example, an 8-bit ADC has 512 counts (0 to 511 binary), then count 255 would be the
zero offset and zero-gauss value.

In reality errors will creep in due to the tolerances of the sensor bridge (bridge offset voltage), multiplied by the amplifier
gain stages plus any offset errors the amplifiers contribute; and magnetic errors from hard iron effects (nearby magnetized
materials). Usually a factory or user calibration routine in a clean magnetic environment will obtain a correction value of
counts from mid ADC scale. Further tweaking of the correction value for each magnetic sensor axis once the compass
assembly is in its final user location, is highly desired to remove the magnetic environment offsets.

For example, the result of measuring AN0 (Vref) is about count 255, and the measuring of AN1, AN2, and AN3 results in
331, 262, and 205 counts respectively. Next calibration values of 31, -5, and 20 counts would be subtracted to result in
corrected values of 301, 267, and 205 respectively. If the pitch and roll were known to be zero; then the AN3 (Z-axis
output) value could be ignored and the tilt corrected X and Y-axis values would be the corrected values of AN1 and AN2
minus the voltage reference value of AN0. Doing the math yields arctan [y/x] or arctan [(267-255)/(301-255)] or 14.6
degrees east of magnetic north.

Heading Computation

Once the magnetic sensor axis outputs are gathered and the calibration corrections subtracted, the next step toward
heading computation is to gather the pitch and roll (tilt) data from the MEMSIC MXS3334UL accelerometer outputs. The
MXS3334UL in perfectly horizontal (zero tilt) condition produces a 100Hz, 50 percent duty cycle Pulse Width Modulated
(PWM) digital waveform from its Doutx and Douty pins corresponding to the X and Y sensitive axis. These output pins will
change their duty cycle from 30% to 70% when tilted fully in each axis (±1g). The scaling of the PWM outputs is strictly
gravitational, so that a 45 degree tilt results in 707 milli-g’s or a slew of ±14.1% from the 50% center point duty cycle.

With the MXS3334UL’s positive X-axis direction oriented towards the front of the user’s platform, a pitch downward will
result in a reduced PWM duty cycle, with a pitch upward increasing in duty cycle. Likewise, the Y-axis arrow is 90 degrees
counter-clockwise which results in a roll left corresponding to a decreasing duty cycle, and roll right to an increasing duty
cycle.

10 www.honeywell.com
HMC1055
Measuring the pitch and roll data for a microcontroller is reasonably simple in that the Doutx and Douty logic signals can
be sent to microcontroller digital input pins for duty cycle measurement. At firmware development or factory calibration,
the total microcontroller clock cycles between Doutx or Douty rising edges should be accrued using an interrupt or
watchdog timer feature to scale the 100Hz (10 millisecond) edges. Then measuring the Doutx and Douty falling edges
from the rising edge (duty cycle computation) should be a process of clock cycle counting. For example, a 1MHz clocked
microcontroller should count about 10,000 cycles per rising edge, and 5,000 cycle counts from rising to falling edge would
represent a 50% duty cycle or zero degree pitch or roll.

Once the duty cycle is measured for each axis output and mathematically converted to a gravitational value, these values
can be compared to a memory mapped table, if the user desires the true pitch and roll angles. For example, if the pitch
and roll data is to be known in one degree increments, a 91-point map can be created to match up gravitational values
(sign independent) with corresponding degree indications. Because tilt-compensated compassing requires sine and
cosine of the pitch and roll angles, the gravitational data is already formatted between zero and one and does not require
further memory maps of trigonometric functions. The gravity angles for pitch and roll already fit the sine of the angles, and
the cosines are just one minus the sine values (cosine = 1 – sine).

The equations:

X’ = X * cos(φ) + Y * sin(θ) * sin(φ) – Z * cos(θ) * sin(φ)

Y’ = Y * cos(θ) + Z * sin(θ)

Create tilt compensated X and Y magnetic vectors (X’, Y’) from the raw X, Y, and Y magnetic sensor inputs plus the pitch
(φ) and roll (θ) angles. Once X’ and Y’ are computed, the compass heading can be computed by equation:

Azimuth (Heading) = arctan (Y’ / X’)

To perform the arc-tangent trigonometric function, a memory map needs to be implemented. Thankfully the pattern
repeats in each 90° quadrant, so with a one-degree compass resolution requirement, 90 mapped quotients of the arc-
tangent function can be used. If 0.1° resolution is needed then 900 locations are needed and only 180 locations with 0.5°
resolution. Also, special case quotient detections are needed for the zero and inifinity situations at 0°, 90, 180°, and 270°
prior to the quotient computation.

After the heading is computed, two heading correction factors may be added to handle declination angle and platform
angle error. Declination angle is the difference between the magnetic north pole and the geometric north pole, and varies
depending on the latitude and longitude (global location) of the user compass platform. If you have access to Global
Positioning Satellite (GPS) information resulting in a latitude and longitude computation, then the declination angle can be
computed or memory mapped for heading correction. Platform angle error may occur if the sensors are not aligned
perfectly with the mechanical characteristics of the user platform. These angular errors can be inserted in firmware
development and or in factory calibration.

Compass Calibration

In the paragraphs describing raw magnetic sensor data, the count values of X, Y, and Z are found from inputs AN0 to
AN3. A firmware calibration routine will create Xoff, Yoff and Xsf, and Ysf for calibration factors for “hard-iron” distortions
of the earth’s magnetic field at the sensors. Typically these distortions come from nearby magnetized components. Soft-
iron distortions are more complex to factor out of heading values and are generally left out for low cost compassing
applications. Soft-iron distortion arises from magnetic fields bent by un-magnetized ferrous materials either very close to
the sensors or large in size. Locating the compass away from ferrous materials provides the best error reduction. The
amount of benefit is dependant on the amount of ferrous material and its proximity to the compass platform.

To derive the calibration factors, the sensor assembly (platform) and its affixed end-platform (e.g. watch/human, boat,
auto, etc.) are turned at least one complete rotation as the compass electronics collects many continuous readings. The
speed and rate of turn are based on how quickly the microcontroller can collect and process X, Y, and Z data during the
calibration routine. A good rule of thumb is to collect readings every few degrees by either asking the user to make a
couple rotations or by keeping in the rotation(s) slow enough to collect readings of the correct rate of turn.

The Xh and Yh readings during calibration are done with Xoff and Yoff at zero values, and axis scale factors (Xsf and Ysf)
at unity values. The collected calibration X and Y values are then tabulated to find the min and max of both X and Y. At
the end of the calibration session, the Xmax, Ymax, Xmin, and Ymin values are converted to the following:

www.honeywell.com 11
HMC1055
Xsf = 1 or (Ymax –Ymin) / (Xmax – Xmin) , whichever is greater

Ysf = 1 or (Xmax –Xmin) / (Ymax – Ymin) , whichever is greater

Xoff = [(Xmax – Xmin)/2 – Xmax] * Xsf

Yoff = [(Ymax –Ymin)/2 –Ymax] * Ysf

Z-axis data is generally not corrected if the end-platform can not turned upside-down. In portable or hand-held
applications, then the compass assembly can be tipped upside down and Zoff can be computed like Xoff and Yoff, but
with only two reference points (upright and upside down). Factory values for Zoff maybe the only values possible.
Creating corrected X, Y, and Z count values are done as previously mentioned by subtracting the offsets. The scale factor
values are used only after the Vref counts are subtracted form the offset corrected axis counts. For more details on
calibration for iron effects, see the white paper “Applications of Magnetoresistive Sensors in Navigation Systems” located
on the magneticsensors.com website.

Offsets due to sensor bridge offset voltage of each sensor axis are part of the Xoff, Yoff, and Zoff computation. These
offsets are present even with no magnetic field disturbances. To find their true values, the set and reset drive circuits can
be toggled while taking measurements shortly after each transition. After a reset pulse, the magnetic field portion of the
sensor bridge will have flipped polarity while the offset remains the same. Thus two measurements, after a reset and a set
pulse can be summed together. The magnetic portions of the sum will cancel, leaving just a double value of the offset.
The result can then be divide by two to derive the bridge offset.

The reason for knowing the bridge offset, is that the offset will drift with temperature. Should the user desire the best
accuracy in heading, a new calibration should be performed with each encounter with a new temperature environment.
See application notes AN-212, AN-213, and AN-214 for further compass design considerations.

Ordering Information
Ordering Number Product

HMC1055 3-Axis Compass Sensor Set

Find out more

For more information on Honeywell’s Magnetic Sensors visit us online at www.magneticsensors.com or contact us at
800-323-8295 (763-954-2474 internationally).

The application circuits herein constitute typical usage and interface of Honeywell product. Honeywell does not warranty or assume liability of customer-
designed circuits derived from this description or depiction.

Honeywell reserves the right to make changes to improve reliability, function or design. Honeywell does not assume any liability arising out of the
application or use of any product or circuit described herein; neither does it convey any license under its patent rights nor the rights of others.

U.S. Patents 4,441,072, 4,533,872, 4,569,742, 4,681,812, 4,847,584 and 6,529,114 apply to the technology described

Honeywell International Inc.

Defense and Space
12001 Highway 55
Plymouth, MN 55441 Form #900302 Rev A
Tel: 800-323-8295 September 2005
www.honeywell.com
12 ©2005 Honeywell International Inc. www.honeywell.com