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Table 3 Residual statistics (unweighted) for Model A

From: Co-estimation of geomagnetic field and in-orbit fluxgate magnetometer calibration parameters

DatasetComponentNmean (nT)\(\sigma\) (nT)rms (nT)
CHAMP\(B_r\)219 7940.092.132.13
\(B_{\theta }\)219 7940.253.563.57
\(B_{\phi }\)219 794− 0.113.023.02
\(F_{\text {nonpolar}}\)233 951− 0.092.422.42
\(F_{\text {polar}}\)238 7421.1513.0513.10
Swarm A\(B_r\)130 482− 0.041.771.77
\(B_{\theta }\)130 4820.244.154.16
\(B_{\phi }\)130 482− 0.093.023.02
\(F_{\text {nonpolar}}\)130 501− 0.462.822.86
\(F_{\text {polar}}\)147 5760.8911.0511.08
Swarm B\(B_r\)142 447− 0.122.432.43
\(B_{\theta }\)142 447− 0.714.774.82
\(B_{\phi }\)142 4470.053.043.04
\(F_{\text {nonpolar}}\)142 5460.063.183.18
\(F_{\text {polar}}\)151 3561.119.9510.01
Cryosat FGM1\(B_r\)116 222− 0.065.065.06
\(B_{\theta }\)116 222− 0.156.836.83
\(B_{\phi }\)116 222− 0.054.954.95
\(F_{\text {nonpolar}}\)116 2220.765.335.39
\(F_{\text {polar}}\)87 3690.888.888.92
Cryosat FGM2\(B_r\)116 3540.056.886.88
\(B_{\theta }\)116 3540.056.616.61
\(B_{\phi }\)116 354− 0.035.005.00
\(F_{\text {nonpolar}}\)116 3541.245.625.76
\(F_{\text {polar}}\)87 252− 0.608.978.99
Cryosat FGM3\(B_r\)116 2060.055.185.18
\(B_{\theta }\)116 2060.006.286.28
\(B_{\phi }\)116 206− 0.085.385.38
\(F_{\text {nonpolar}}\)116 2061.335.065.23
\(F_{\text {polar}}\)87 1071.019.029.08
DMSP F-16\(B_r\)506 2920.2018.0918.09
\(B_{\theta }\)506 292− 1.0726.2826.30
\(B_{\phi }\)506 292− 0.1824.2424.24
\(F_{\text {nonpolar}}\)506 2920.4711.6211.63
\(F_{\text {polar}}\)103 1006.2020.1521.08
DMSP F-17\(B_r\)509 8200.209.529.53
\(B_{\theta }\)509 820− 0.4411.3911.40
\(B_{\phi }\)509 8200.038.938.93
\(F_{\text {nonpolar}}\)509 8200.347.887.89
\(F_{\text {polar}}\)104 601− 6.5516.3217.58
DMSP F-18\(B_r\)427 126− 0.1224.6224.62
\(B_{\theta }\)427 126− 0.2212.4212.43
\(B_{\phi }\)427 1260.059.299.29
\(F_{\text {nonpolar}}\)427 126− 0.138.958.96
\(F_{\text {polar}}\)85 318− 6.8419.9621.10
DatasetComponentNmean (nT/year)\(\sigma\) (nT/year)rms (nT/year)
Observatories\({\dot{B}}_{r,\text {nonpolar}}\)415 0030.335.895.90
\({\dot{B}}_{\theta ,\text {nonpolar}}\)415 003−0.317.807.80
\({\dot{B}}_{\phi ,\text {nonpolar}}\)413 8690.007.317.31
\({\dot{B}}_{r,\text {polar}}\)181 0230.2329.0629.06
\({\dot{B}}_{\theta ,\text {polar}}\)181 0230.0726.9326.93
\({\dot{B}}_{\phi ,\text {polar}}\)181 023−0.0118.3218.32