We describe sensitive magnetometry using lumped-element resonators fabricated from a superconducting thin film of NbTiN. Taking advantage of the large kinetic inductance of the superconductor, we demonstrate a continuous resonance frequency shift of MHz for a change in magnetic field of T within a perpendicular background field of 60 mT. By using phase-sensitive readout of microwaves transmitted through the sensors, we measure phase shifts in real time with a sensitivity of degree/nT. We present measurements of the noise spectral density of the sensors, and find their field sensitivity is at least within one to two orders of magnitude of superconducting quantum interference devices operating with zero background field. Our superconducting kinetic inductance field-frequency sensors enable real-time magnetometry in the presence of moderate perpendicular background fields up to at least 0.2 T. Applications for our sensors include the stabilization of magnetic fields in long coherence electron spin resonance measurements and quantum computation.

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