System and method for calibrating a magnetometer using partial and full calibrations

A method and system are provided for calibrating a magnetometer. The method comprises obtaining a plurality of magnetometer sensor readings; storing sensor readings from the plurality of obtained sensor readings that are different; determining a first calibration parameter based on a first predetermined number of different readings; and determining a plurality of calibration parameters based on a second predetermined number of different readings, wherein the plurality of calibration parameters includes the first calibration parameter.