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Attitude sensor calibration is one of the critical tasks performed during the first few weeks of most space missions. It often is repeated later in a mission to maintain sensor accuracy. Calibration compensates attitude sensors for the effects of launch shock, mean temperature change, release of gravitational stress, and age-related changes. Depending on mission requirements, the calibration parameters usually include primary sensor alignments and inertial reference unit (IRU) alignment, scale factors, and biases. Similar corrections may be determined for magnetometers and Sun and Earth sensors. Magnetometer calibration often includes magnetic torquer compensation. More rarely, it is useful to estimate improvements to the Sun sensor or star tracker transfer function that converts counts to angles in the sensor field of view.