Real-Time, Limited Orientation Sensor Auto-Calibration

A system method and computer-readable medium for correcting measurements obtained by a down hole tool for residual measurement errors is disclosed. A down hole tool having at least two directional field sensors is disposed in a borehole. The at least two directional sensors are substantially orthogonal to each other and to a longitudinal axis of the down hole tool. Measurements are obtained from the at least two directional sensors during rotation of the tool by at least 360 degrees around the longitudinal axis of the tool. Residual measurement errors are determined for the obtained measurements, and a quality level of the determined residual measurement errors selected. The determined residual measurement errors are applied to the obtained measurements when the determined residual measurement errors are consistent with the selected quality level. In various embodiments, the residual measurement errors are reduced from a first value that does not match the selected quality level to a second value that are consistent with the selected quality level.