A method for calibrating a magnetometer of a device is provided. The method includes collecting, with a portable calibration device having a magnetometer, magnetic field measurements in a spatial region about a mounting location where the device is to be installed for operation, estimating magnetometer compensation parameters to correct for magnetic field distortion at the mounting location based on the magnetic field measurements collected by the portable calibration device, and configuring the device installed at the mounting location based on the magnetometer compensation parameters.