We investigate the reconstruction capabilities of the dark matter mass and spin-independent cross section from future ton-scale direct detection experiments using germanium, xenon, or argon as targets. Adopting realistic values for the exposure, energy threshold, and resolution of dark matter experiments which will come online within 5 to 10 years, the degree of complementarity between different targets is quantified. We investigate how the uncertainty in the astrophysical parameters controlling the local dark matter density and velocity distribution affects the reconstruction. For a 50 GeV WIMP, astrophysical uncertainties degrade the accuracy in the mass reconstruction by up to a factor of ∼4 for xenon and germanium, compared to the case when astrophysical quantities are fixed. However, the combination of argon, germanium, and xenon data increases the constraining power by a factor of ∼2 compared to germanium or xenon alone. We show that future direct detection experiments can achieve self-calibration of some astrophysical parameters, and they will be able to constrain the WIMP mass with only very weak external astrophysical constraints.