A magnetic field sensor for detecting first, second, and third spatial components of a magnetic field at a reference point includes a first sensor element arrangement for detecting the first magnetic field component having a first measurement field component and a first calibration field component with respect to a first spatial axis at a reference point, a second sensor element arrangement for detecting the second magnetic field component having a second measurement field component and a second calibration field component with respect to a second spatial axis y at the reference point and a third sensor element arrangement for detecting the third magnetic field component having a third measurement field component and a third calibration field component with respect to a third spatial axis x at the reference point. An excitation line is arranged such with respect to the three sensor element arrangements that when impressing a predetermined current into the excitation line respective predetermined calibration field components with respect to the spatial axes in the sensor element arrangements are generated.