Magnetometer
Builds a magnetometer calibrator to be used internally by other calibrators.
Constructors
Constructor.
Properties
magnetometer measurement base noise level that has been detected during initialization expressed in Teslas (T).
Norm of ground truth magnetic flux density norm to be expected at location where measurements have been made, expressed in Teslas (T).
x-coordinate of magnetometer hard iron used as an initial guess and expressed in Teslas (T).
y-coordinate of magnetometer hard iron used as an initial guess and expressed in Teslas (T).
z-coordinate of magnetometer hard iron used as an initial guess and expressed in Teslas (T).
initial x-y cross coupling error for magnetometer calibration.
initial x-z cross coupling error for magnetometer calibration.
initial y-x cross coupling error for magnetometer calibration.
initial y-z cross coupling error for magnetometer calibration.
initial z-x cross coupling error for magnetometer calibration.
initial z-y cross coupling error for magnetometer calibration.
Indicates or specifies whether z-axis is assumed to be common for magnetometer, gyroscope and accelerometer.
Indicates whether magnetometer initial hard iron is considered a ground-truth known hard iron.
List of magnetometer measurements.
Minimum number of required measurements to start magnetometer calibration.
mapper to convert collected magnetometer measurements into quality scores, based on the amount of standard deviation (the larger the variability, the worse the score will be).
Confidence of estimated magnetometer calibration result expressed as a value between 0.0 and 1.0. By default 99% of confidence is used, which indicates that with a probability of 99% estimation will be accurate because chosen sub-samples will be inliers (in other terms, outliers will be correctly discarded). This property is only taken into account if a not-null robustMethod is specified.
Maximum number of iterations to attempt to find a robust magnetometer calibration solution. By default this is 5000. This property is only taken into account if a not-null robustMethod is specified.
Indicates robust method used to solve magnetometer calibration.
Size of preliminary subsets picked while finding a robust magnetometer calibration solution. This properly is only taken into account if a not-null robustMethod is specified.
Additional factor to be taken into account for robust methods based on LMedS or PROMedS, where factor is not directly related to LMSE, but to a smaller value. This only applies to magnetometer calibration.
Threshold to be used to determine whether a measurement is considered an outlier by robust magnetometer calibration algorithms or not. Threshold varies depending on chosen robustMethod. By default, if null is provided, the estimated baseNoiseLevel will be used to determine a suitable threshold. Otherwise, if a value is provided, such value will be used instead. This properly is only taken into account if a not-null robustMethod is specified.
Factor to be used respect estimated magnetometer base noise level to consider a measurement an outlier when using robust calibration methods. By default this is 3.0 times baseNoiseLevel, which considering the noise level as the standard deviation of a Gaussian distribution, should account for 99% of the cases. Any measurement having an error greater than that in the estimated solution, will be considered an outlier and be discarded.
Earth's magnetic model. Null indicates that default model is being used.