StaticIntervalAccelerometerGyroscopeAndMagnetometerCalibrator2

Constructor.

Interface to notify when a new accelerometer calibration measurement is generated.

Interface to notify when a new gyroscope calibration measurement is generated.

Interface to notify when a new magnetometer calibration measurement is generated.

Interface to notify when initial accelerometer bias guess is available. If isAccelerometerGroundTruthInitialBias is true, then initial bias is considered the true value after solving calibration, otherwise, initial bias is considered only an initial guess.

Interface to notify when initial gyroscope bias guess is available. If isGyroscopeGroundTruthInitialBias is true, then initial bias is considered the true value after solving calibration, otherwise, initial bias is considered only an initial guess.

Interface to notify when initial hard iron guess is available. If isMagnetometerGroundTruthInitialHardIron is true, then initial hard iron is considered the true value after solving calibration, otherwise, initial hard iron is considered only an initial guess.

Interface to notify when gravity norm estimation is unreliable. This only happens if no location is provided and gravity sensor becomes unreliable.

Gets average time interval between accelerometer samples expressed in seconds (s). This is only available once the internal generator completes initialization.

Gets average time interval between accelerometer samples. This is only available once the internal generator completes initialization.

Gets accelerometer measurement base noise level that has been detected during initialization expressed in meters per squared second (m/s^2). This is only available once internal generator completes initialization.

Gets accelerometer measurement base noise level that has been detected during initialization. This is only available once internal generator completes initialization.

Gets measurement base noise level PSD (Power Spectral Density) expressed in (m^2 * s^-3). This is only available once internal generator completes initialization.

Gets measurement base noise level root PSD (Power Spectral Density) expressed in (m * s^-1.5). This is only available once internal generator completes initialization.

Gets initial bias coordinate used as an initial guess. This value is determined once the calibrator starts. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER_UNCALIBRATED, this will be equal to the values used internally by the device as part of the accelerometer hardware calibration. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER, then accelerometer sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isAccelerometerGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedAccelerometerBiasAsTriad will be equal to this value, otherwise estimatedAccelerometerBiasAsTriad will be the estimated bias after solving calibration, which will differ from estimatedAccelerometerBiasAsTriad.

Gets x-coordinate of accelerometer bias used as an initial guess and expressed in meters per squared second (m/s^2). This value is determined once the calibrator starts. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the accelerometer hardware calibration. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER, then accelerometer sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isAccelerometerGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedAccelerometerBiasX will be equal to this value, otherwise estimatedAccelerometerBiasX will be the estimated bias after solving calibration, which will differ from accelerometerInitialBiasX.

Gets accelerometer X-coordinate of bias used as an initial guess. This value is determined once the calibrator starts. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the accelerometer hardware calibration. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER, then accelerometer sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isAccelerometerGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedAccelerometerBiasX will be equal to this value, otherwise estimatedAccelerometerBiasX will be the estimated bias after solving calibration, which will differ from accelerometerInitialBiasX.

Gets y-coordinate of accelerometer bias used as an initial guess and expressed in meters per squared second (m/s^2). This value is determined once the calibrator starts. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the accelerometer hardware calibration. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER, then accelerometer sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isAccelerometerGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedAccelerometerBiasY will be equal to this value, otherwise estimatedAccelerometerBiasY will be the estimated bias after solving calibration, which will differ from accelerometerInitialBiasY.

Gets accelerometer Y-coordinate of bias used as an initial guess. This value is determined once the calibrator starts. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the accelerometer hardware calibration. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER, then accelerometer sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isAccelerometerGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedAccelerometerBiasY will be equal to this value, otherwise estimatedAccelerometerBiasY will be the estimated bias after solving calibration, which will differ from accelerometerInitialBiasY.

Gets z-coordinate of accelerometer bias used as an initial guess and expressed in meters per squared second (m/s^2). This value is determined once the calibrator starts. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the accelerometer hardware calibration. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER, then accelerometer sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isAccelerometerGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedAccelerometerBiasZ will be equal to this value, otherwise estimatedAccelerometerBiasZ will be the estimated bias after solving calibration, which will differ from accelerometerInitialBiasZ.

Gets accelerometer Z-coordinate of bias used as an initial guess. This value is determined once the calibrator starts. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the accelerometer hardware calibration. If accelerometerSensorType is AccelerometerSensorType.ACCELEROMETER, then accelerometer sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isAccelerometerGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedAccelerometerBiasZ will be equal to this value, otherwise estimatedAccelerometerBiasZ will be the estimated bias after solving calibration, which will differ from accelerometerInitialBiasZ.

Gets or sets initial accelerometer scaling factors and cross coupling errors matrix.

Gets or sets initial x-y cross coupling error for accelerometer calibration.

Gets or sets initial x-z cross coupling error for accelerometer calibration.

Gets or sets initial y-x cross coupling error for accelerometer calibration.

Gets or sets initial y-z cross coupling error for accelerometer calibration.

Gets or sets initial z-x cross coupling error for accelerometer calibration.

Gets or sets initial z-y cross coupling error for accelerometer calibration.

Gets or sets initial x scaling factor for accelerometer calibration.

Gets or sets initial y scaling factor for accelerometer calibration.

Gets or sets initial z scaling factor for accelerometer calibration.

List of accelerometer measurements that have been collected so far to be used for accelerometer calibration. Items in return list can be modified if needed, but beware that this might have consequences on solved calibration result.

mapper to convert collected accelerometer measurements into quality scores, based on the amount of standard deviation (the larger the variability, the worse the score will be).

Indicates if accelerometer result is unreliable. This can happen if no location is provided and gravity estimation becomes unreliable. When this happens result of calibration should probably be discarded.

Confidence of estimated accelerometer 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 accelerometerRobustMethod is specified.

Maximum number of iterations to attempt to find a robust accelerometer calibration solution. By default this is 5000. This property is only taken into account if a not-null accelerometerRobustMethod is specified.

Indicates robust method used to solve accelerometer calibration. If null, no robust method is used at all, and instead an LMSE solution is found.

Size of preliminary subsets picked while finding a robust accelerometer calibration solution. By default this is the minimumRequiredAccelerometerMeasurements, which results in the smallest number of iterations to complete robust algorithms. Larger values can be used to ensure that error in each preliminary solution is minimized among more measurements (thus, softening the effect of outliers), but this comes at the expense of larger number of iterations. This properly is only taken into account if a not-null accelerometerRobustMethod 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 accelerometer calibration.

Threshold to be used to determine whether a measurement is considered an outlier by robust accelerometer calibration algorithms or not. Threshold varies depending on chosen accelerometerRobustMethod. By default, if null is provided, the estimated accelerometerBaseNoiseLevel 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 accelerometerRobustMethod is specified.

Factor to be used respect estimated accelerometer base noise level to consider a measurement an outlier when using robust calibration methods. By default this is 3.0 times accelerometerBaseNoiseLevel, 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.

Gets accelerometer sensor being used for interval detection. This can be used to obtain additional information about the sensor.

Delay of accelerometer sensor between samples.

One of the supported accelerometer sensor types.

Gets estimated standard deviation of time interval between accelerometer measurements expressed in seconds (s). This is only available once internal generator completes initialization.

Gets estimated standard deviation of time interval between accelerometer measurements. This is only available once internal generator completes initialization.

Gets estimated variance of time interval between accelerometer measurements expressed in squared seconds (s^2). This is only available once internal generator completes initialization.

listener to notify when sensor accuracy changes.

Gets estimated average of gravity norm expressed in meters per squared second (m/s^2). This is only available if no location is provided and initialization has completed.

Gets estimated average gravity norm as Acceleration. This is only available if no location is provided and initialization has completed.

Gets or sets overall absolute threshold to determine whether there has been excessive motion during the whole initialization phase. Failure will be detected if estimated base noise level exceeds this threshold when initialization completes. This threshold is expressed in meters per squared second (m/s^2).

Gets or sets overall absolute threshold to determine whether there has been excessive motion during the whole initialization phase. Failure will be detected if estimated base noise level exceeds this threshold when initialization completes.

listener to notify when calibration solving completes.

listener to notify when calibration solving starts.

Android context.

listener to notify when a dynamic interval is detected.

listener to notify when a dynamic interval is skipped if its duration is too long.

listener to notify errors.

Gets estimated accelerometer bias. If isAccelerometerGroundTruthInitialBias is true, this will be equal to accelerometerInitialBiasAsTriad, otherwise it will be the estimated value obtained after solving calibration, that might differ from accelerometerInitialBiasAsTriad.

Gets norm of estimated standard deviation of accelerometer bias expressed in meters per squared second (m/s^2), or null if not available.

Gets x coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2). If isAccelerometerGroundTruthInitialBias is true, this will be equal to accelerometerInitialBiasX, otherwise it will be the estimated value obtained after solving calibration, that might differ from accelerometerInitialBiasX.

Gets x coordinate of estimated accelerometer bias. If isAccelerometerGroundTruthInitialBias is true, this will be equal to accelerometerInitialBiasX, otherwise it will be the estimated value obtained after solving calibration, that might differ from accelerometerInitialBiasX.

Gets y coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2). If isAccelerometerGroundTruthInitialBias is true, this will be equal to accelerometerInitialBiasY, otherwise it will be the estimated value obtained after solving calibration, that might differ from accelerometerInitialBiasY.

Gets y coordinate of estimated accelerometer bias. If isAccelerometerGroundTruthInitialBias is true, this will be equal to accelerometerInitialBiasY, otherwise it will be the estimated value obtained after solving calibration, that might differ from accelerometerInitialBiasY.

Gets z coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2). If isAccelerometerGroundTruthInitialBias is true, this will be equal to accelerometerInitialBiasZ, otherwise it will be the estimated value obtained after solving calibration, that might differ from accelerometerInitialBiasZ.

Gets z coordinate of estimated accelerometer bias. If isAccelerometerGroundTruthInitialBias is true, this will be equal to accelerometerInitialBiasZ, otherwise it will be the estimated value obtained after solving calibration, that might differ from accelerometerInitialBiasZ.

Gets estimated chi square value for accelerometer or null if not available.

Gets estimated covariance matrix for estimated accelerometer parameters or null if not available. When bias is known, diagonal elements of the covariance matrix contains variance for the following parameters (following indicated order): sx, sy, sz, mxy, mxz, myz, mzx, mzy. When bias is not known, diagonal elements of the covariance matrix contains variance for the following parameters (following indicated order): bx, by, bz, sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy, where bx, by, bz corresponds to bias or hard iron coordinates.

Gets estimated accelerometer scale factors and cross coupling errors, or null if not available. This is the product of matrix Ta containing cross coupling errors and Ka containing scaling factors. So tat:

Gets estimated mean square error respect to provided accelerometer measurements or null if not available.

Gets estimated accelerometer x-y cross-coupling error or null if not available.

Gets estimated accelerometer x-z cross-coupling error or null if not available.

Gets estimated accelerometer y-x cross-coupling error or null if not available.

Gets estimated accelerometer y-z cross-coupling error or null if not available.

Gets estimated accelerometer z-x cross-coupling error or null if not available.

Gets estimated accelerometer z-y cross-coupling error or null if not available.

Gets estimated accelerometer x-axis scale factor or null if not available.

Gets estimated accelerometer y-axis scale factor or null if not available.

Gets estimated accelerometer z-axis scale factor or null if not available.

Gets estimated gyroscope bias. If isGyroscopeGroundTruthInitialBias is true, this will be equal to gyroscopeInitialBiasAsTriad, otherwise it will be the estimated value obtained after solving calibration, that might differ from gyroscopeInitialBiasAsTriad.

Gets norm of estimated standard deviation of accelerometer bias expressed in radians per second (rad/s), or null if not available.

Gets x coordinate of estimated gyroscope bias expressed in radians per second (rad/s). If isGyroscopeGroundTruthInitialBias is true, this will be equal to gyroscopeInitialBiasX, otherwise it will be the estimated value obtained after solving calibration, that might differ from gyroscopeInitialBiasX.

Gets x coordinate of estimated gyroscope bias. If isGyroscopeGroundTruthInitialBias is true, this will be equal to gyroscopeInitialBiasX, otherwise it will be the estimated value obtained after solving calibration, that might differ from gyroscopeInitialBiasX.

Gets y coordinate of estimated gyroscope bias expressed in radians per second (rad/s). If isGyroscopeGroundTruthInitialBias is true, this will be equal to gyroscopeInitialBiasY, otherwise it will be the estimated value obtained after solving calibration, that might differ from gyroscopeInitialBiasY.

Gets y coordinate of estimated gyroscope bias. If isGyroscopeGroundTruthInitialBias is true, this will be equal to gyroscopeInitialBiasY, otherwise it will be the estimated value obtained after solving calibration, that might differ from gyroscopeInitialBiasY.

Gets z coordinate of estimated gyroscope bias expressed in radians per second (rad/s). If isGyroscopeGroundTruthInitialBias is true, this will be equal to gyroscopeInitialBiasZ, otherwise it will be the estimated value obtained after solving calibration, that might differ from gyroscopeInitialBiasZ.

Gets z coordinate of estimated gyroscope bias. If isGyroscopeGroundTruthInitialBias is true, this will be equal to gyroscopeInitialBiasZ, otherwise it will be the estimated value obtained after solving calibration, that might differ from gyroscopeInitialBiasZ.

Gets estimated chi square value for gyroscope or null if not available.

Gets estimated covariance matrix for estimated gyroscope parameters or null if not available. When bias is known, diagonal elements of the covariance matrix contains variance for the following parameters (following indicated order): sx, sy, sz, mxy, mxz, myz, mzx, mzy. When bias is not known, diagonal elements of the covariance matrix contains variance for the following parameters (following indicated order): bx, by, bz, sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy, where bx, by, bz corresponds to bias or hard iron coordinates.

Gets estimated gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

Gets estimated gyroscope scale factors and cross coupling errors, or null if not available. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So tat:

Gets estimated mean square error respect to provided gyroscope measurements or null if not available.

Gets estimated gyroscope x-y cross-coupling error or null if not available.

Gets estimated gyroscope x-z cross-coupling error or null if not available.

Gets estimated gyroscope y-x cross-coupling error or null if not available.

Gets estimated gyroscope y-z cross-coupling error or null if not available.

Gets estimated gyroscope z-x cross-coupling error or null if not available.

Gets estimated gyroscope z-y cross-coupling error or null if not available.

Gets estimated gyroscope x-axis scale factor or null if not available.

Gets estimated gyroscope y-axis scale factor or null if not available.

Gets estimated gyroscope z-axis scale factor or null if not available.

Gets estimated chi square value for magnetometer or null if not available.

Gets estimated covariance matrix for estimated magnetometer parameters or null if not available. When hard iron is known, diagonal elements of the covariance matrix contains variance for the following parameters (following indicated order): sx, sy, sz, mxy, mxz, myz, mzx, mzy. When hard iron is not known, diagonal elements of the covariance matrix contains variance for the following parameters (following indicated order): bx, by, bz, sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy.

Gets estimated magnetometer hard iron. If isMagnetometerGroundTruthInitialHardIron is true, this will be equal to magnetometerInitialHardIronAsTriad, otherwise it will be the estimated value obtained after solving calibration, that might differ from magnetometerInitialHardIronAsTriad.

Gets x coordinate of estimated magnetometer hard iron expressed in Teslas (T). If isMagnetometerGroundTruthInitialHardIron is true, this will be equal to magnetometerInitialHardIronX, otherwise it will be the estimated value obtained after solving calibration, that might differ from magnetometerInitialHardIronX.

Gets x coordinate of estimated magnetometer hard iron. If isMagnetometerGroundTruthInitialHardIron is true, this will be equal to magnetometerInitialHardIronXAsMeasurement, otherwise it will be the estimated value obtained after solving calibration, that might differ from magnetometerInitialHardIronXAsMeasurement.

Gets y coordinate of estimated magnetometer hard iron expressed in Teslas (T). If isMagnetometerGroundTruthInitialHardIron is true, this will be equal to magnetometerInitialHardIronY, otherwise it will be the estimated value obtained after solving calibration, that might differ from magnetometerInitialHardIronY.

Gets y coordinate of estimated magnetometer hard iron. If isMagnetometerGroundTruthInitialHardIron is true, this will be equal to magnetometerInitialHardIronYAsMeasurement, otherwise it will be the estimated value obtained after solving calibration, that might differ from magnetometerInitialHardIronYAsMeasurement.

Gets z coordinate of estimated magnetometer hard iron expressed in Teslas (T). If isMagnetometerGroundTruthInitialHardIron is true, this will be equal to magnetometerInitialHardIronZ, otherwise it will be the estimated value obtained after solving calibration, that might differ from magnetometerInitialHardIronZ.

Gets z coordinate of estimated magnetometer hard iron. If isMagnetometerGroundTruthInitialHardIron is true, this will be equal to magnetometerInitialHardIronZAsMeasurement, otherwise it will be the estimated value obtained after solving calibration, that might differ from magnetometerInitialHardIronZAsMeasurement.

Gets estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors., or null if not available. This is the product of matrix Tm containing cross coupling errors and Km containing scaling factors. So tat:

Gets estimated mean square error respect to provided magnetometer measurements or null if not available.

Gets estimated magnetometer x-y cross-coupling error or null if not available.

Gets estimated magnetometer x-z cross-coupling error or null if not available.

Gets estimated magnetometer y-x cross-coupling error or null if not available.

Gets estimated magnetometer y-z cross-coupling error or null if not available.

Gets estimated magnetometer z-x cross-coupling error or null if not available.

Gets estimated magnetometer z-y cross-coupling error or null if not available.

Gets estimated magnetometer x-axis scale factor or null if not available.

Gets estimated magnetometer y-axis scale factor or null if not available.

Gets estimated magnetometer z-axis scale factor or null if not available.

listener to notify when a new accelerometer calibration measurement is generated.

listener to notify when a new gyroscope calibration measurement is generated.

listener to notify when a new magnetometer calibration measurement is generated.

Contains gravity norm (either obtained by the gravity sensor, or determined by current location using WGS84 Earth model). Expressed in meters per squared second (m/s^2).

Gets estimated standard deviation of gravity norm expressed in meters per squared second (m/s^2). This is only available if no location is provided and initialization has completed.

Gets estimated standard deviation of gravity norm as Acceleration. This is only available if no location is provided and initialization has completed.

Gets estimated variance of gravity norm expressed in (m^2/s^4). This is only available if no location is provided and initialization has completed.

Gets PSD (Power Spectral Density) of gravity norm expressed in (m^2 * s^-3). This is only available if no location is provided and initialization has completed.

Gets root PSD (Power Spectral Density) of gravity norm expressed in (m * s^-1.5). This is only available if no location is provided and initialization has completed.

Gets gravity sensor being used for gravity estimation. This can be used to obtain additional information about the sensor.

Gets gyroscope measurement base noise level that has been detected during initialization expressed in radians per second (rad/s). This is only available once generator completes initialization.

Gets gyroscope measurement base noise level that has been detected during initialization. This is only available once generator completes initialization.

Gets gyroscope bias used as an initial guess. This value is determined once the calibrator starts. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE_UNCALIBRATED, this will be equal to the value used internally by the device as part of the gyroscope hardware calibration. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE, then gyroscope sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isGyroscopeGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedGyroscopeBiasAsTriad will be equal to this value, otherwise estimatedGyroscopeBiasAsTriad will be the estimated bias after solving calibration, which will differ from gyroscopeInitialBiasAsTriad.

Gets x-coordinate of gyroscope bias used as an initial guess and expressed in radians per second (rad/s). This value is determined once the calibrator starts. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE_UNCALIBRATED, this will be equal to the value used internally by the device as part of the gyroscope hardware calibration. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE, then gyroscope sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isGyroscopeGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedGyroscopeBiasX will be equal to this value, otherwise estimatedGyroscopeBiasX will be the estimated bias after solving calibration, which will differ from gyroscopeInitialBiasX.

Gets x-coordinate of gyroscope bias used as an initial guess. This value is determined once the calibrator starts. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE_UNCALIBRATED, this will be equal to the value used internally by the device as part of the gyroscope hardware calibration. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE, then gyroscope sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isGyroscopeGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedGyroscopeBiasX will be equal to this value, otherwise estimatedGyroscopeBiasX will be the estimated bias after solving calibration, which will differ from gyroscopeInitialBiasX.

Gets y-coordinate of gyroscope bias used as an initial guess and expressed in radians per second (rad/s). This value is determined once the calibrator starts. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE_UNCALIBRATED, this will be equal to the value used internally by the device as part of the gyroscope hardware calibration. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE, then gyroscope sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isGyroscopeGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedGyroscopeBiasY will be equal to this value, otherwise estimatedGyroscopeBiasY will be the estimated bias after solving calibration, which will differ from gyroscopeInitialBiasY.

Gets y-coordinate of gyroscope bias used as an initial guess. This value is determined once the calibrator starts. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE_UNCALIBRATED, this will be equal to the value used internally by the device as part of the gyroscope hardware calibration. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE, then gyroscope sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isGyroscopeGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedGyroscopeBiasY will be equal to this value, otherwise estimatedGyroscopeBiasY will be the estimated bias after solving calibration, which will differ from gyroscopeInitialBiasY.

Gets z-coordinate of gyroscope bias used as an initial guess and expressed in radians per second (rad/s). This value is determined once the calibrator starts. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE_UNCALIBRATED, this will be equal to the value used internally by the device as part of the gyroscope hardware calibration. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE, then gyroscope sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isGyroscopeGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedGyroscopeBiasZ will be equal to this value, otherwise estimatedGyroscopeBiasZ will be the estimated bias after solving calibration, which will differ from gyroscopeInitialBiasZ.

Gets z-coordinate of gyroscope bias used as an initial guess. This value is determined once the calibrator starts. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE_UNCALIBRATED, this will be equal to the value used internally by the device as part of the gyroscope hardware calibration. If gyroscopeSensorType is GyroscopeSensorType.GYROSCOPE, then gyroscope sensor measurements are assumed to be already bias compensated, and the initial bias is assumed to be zero. If isGyroscopeGroundTruthInitialBias is true, this is assumed to be the true bias, and estimatedGyroscopeBiasZ will be equal to this value, otherwise estimatedGyroscopeBiasZ will be the estimated bias after solving calibration, which will differ from gyroscopeInitialBiasZ.

Gets or sets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

Gets or sets initial gyroscope scaling factors and cross coupling errors matrix.

Gets or sets initial x-y cross coupling error for gyroscope calibration.

Gets or sets initial x-z cross coupling error for gyroscope calibration.

Gets or sets initial y-x cross coupling error for gyroscope calibration.

Gets or sets initial y-z cross coupling error for gyroscope calibration.

Gets or sets initial z-x cross coupling error for gyroscope calibration.

Gets or sets initial z-y cross coupling error for gyroscope calibration.

Gets or sets initial x scaling factor for gyroscope calibration.

Gets or sets initial y scaling factor for gyroscope calibration.

Gets or sets initial z scaling factor for gyroscope calibration.

List of gyroscope measurements that have been collected so far to be used for gyroscope calibration. Items in return list can be modified if needed, but beware that this might have consequences on solved calibration result.

mapper to convert collected gyroscope measurements into quality scores, based on the amount of standard deviation (the larger the variability, the worse the score will be).

Confidence of estimated gyroscope 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 gyroscopeRobustMethod is specified.

Maximum number of iterations to attempt to find a robust gyroscope calibration solution. By default this is 5000. This property is only taken into account if a not-null gyroscopeRobustMethod is specified.

Indicates robust method used to solve gyroscope calibration. If null, no robust method is used at all, and instead an LMSE solution is found.

Size of preliminary subsets picked while finding a robust gyroscope calibration solution. By default this is the minimumRequiredGyroscopeMeasurements, which results in the smallest number of iterations to complete robust algorithms. Larger values can be used to ensure that error in each preliminary solution is minimized among more measurements (thus, softening the effect of outliers), but this comes at the expense of larger number of iterations. This properly is only taken into account if a not-null gyroscopeRobustMethod 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 accelerometer calibration.

Threshold to be used to determine whether a measurement is considered an outlier by robust gyroscope calibration algorithms or not. Threshold varies depending on chosen gyroscopeRobustMethod. By default, if null is provided, the estimated gyroscopeBaseNoiseLevel 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 gyroscopeRobustMethod is specified.

Factor to be used respect estimated gyroscope base noise level to consider a measurement an outlier when using robust calibration methods. By default this is 3.0 times gyroscopeBaseNoiseLevel, 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.

Gets gyroscope sensor being used to obtain measurements, or null if not available. This can be used to obtain additional information about the sensor.

Delay of gyroscope sensor between samples.

One of the supported gyroscope sensor types.

listener to notify when a guess of bias values is obtained.

listener to notify when a guess of bias values is obtained.

listener to notify when initialization completes.

listener to notify when initialization starts.

Norm of average magnetic flux density obtained during initialization and expressed in Teslas.

listener to notify when a guess of magnetometer hard iron is obtained.

Gets or sets number of samples to be processed initially by the internal measurement generator, while keeping the sensor static in order to find the base noise level when device is static.

Gets or sets factor to determine that a sudden movement has occurred during initialization if instantaneous noise level exceeds accumulated noise level by this factor amount. This factor is unit-less.

Indicates or specifies whether z-axis is assumed to be common for magnetometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix during accelerometer calibration.

Indicates whether accelerometer initial bias is considered a ground-truth known bias. When true, estimated biases are exactly equal to initial biases, otherwise initial biases are just an initial guess and estimated ones might differ after solving calibration.

Indicates whether last dynamic interval must be skipped.

Indicates or specifies whether G-dependent cross biases are being estimated or not. When enabled, this adds 9 variables from Gg matrix.

Indicates whether gravity norm is estimated during initialization. If location is provided, gravity is not estimated and instead theoretical gravity for provided location is used.

Indicates or specifies whether z-axis is assumed to be common for gyroscope. When enabled, this eliminates 3 variables from Mg matrix during gyroscope calibration.

Indicates whether gyroscope initial bias is considered a ground-truth known bias. When true, estimated biases are exactly equal to initial biases, otherwise initial biases are just an initial guess and estimated ones might differ after solving calibration.

Indicates whether initial magnetic flux density norm is measured or not. If either location or timestamp is missing, magnetic flux density norm is measured, otherwise an estimation is used based on World Magnetic Model.

Indicates or specifies whether z-axis is assumed to be common for magnetometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.

Indicates whether initial hard iron is considered a ground-truth known bias. When true, estimated hard irons are exactly equal to the initial ones, otherwise initial hard irons are just an initial guess and estimated ones might differ after solving calibration.

Indicates whether enough measurements have been picked at static intervals so that the accelerometer calibration process can be solved.

Indicates whether enough measurements have been picked at static or dynamic intervals so that the calibration process can be solved.

Indicates whether enough measurements have been picked at dynamic intervals so that the gyroscope calibration process can be solved.

Indicates whether enough measurements have been picked at static intervals so that the calibration process can be solved.

Indicates whether last static interval must be skipped.

Location of device when running calibration. If location is provided, WGS84 Earth model is used to determine gravity norm at such location, otherwise gravity norm is estimated during initialization by using the gravity sensor of device. Additionally, if both location and timestamp are provided, magnetometer calibration uses World Magnetic Model, otherwise magnetometer calibration uses measured norm of magnetic field.

Gets average time interval between magnetometer samples expressed in seconds (s). Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Gets average time interval between magnetometer samples. Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Gets magnetometer measurement base noise level that has been detected during initialization expressed in Teslas (T). This is only available once generator completes initialization.

Gets or sets overall absolute threshold to determine whether there has been excessive motion during the whole initialization phase. Failure will be detected if estimated base noise level exceeds this threshold when initialization completes. This threshold is expressed in Teslas (T).

Gets or sets overall absolute threshold to determine whether there has been excessive motion during the whole initialization phase. Failure will be detected if estimated base noise level exceeds this threshold when initialization completes.

Gets magnetometer measurement base noise level that has been detected during initialization. This is only available once generator completes initialization.

Gets magnetometer measurement base noise level PSD (Power Spectral Density) expressed (T^2 * s). This is only available once initialization is completed.

Gets magnetometer measurement base noise level root PSD (Power Spectral Density) expressed in (T * s^0.5). This is only available once initialization is completed.

Gets initial hard iron used as an initial guess. This value is determined once the calibration starts. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the magnetometer hardware calibration. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER, then magnetometer sensor measurements are assumed to be already hard iron compensated, and the initial hard iron is assumed to be zero. If isMagnetometerGroundTruthInitialHardIron is true, this is assumed to be the true hard iron, and estimatedMagnetometerHardIronAsTriad will be equal to this value, otherwise estimatedMagnetometerHardIronAsTriad will be the estimated hard iron after solving calibration, which will differ from magnetometerInitialHardIronAsTriad.

Gets X-coordinate of hard iron used as an initial guess and expressed in Teslas (T). This value is determined once the calibration starts. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the magnetometer hardware calibration. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER, then magnetometer sensor measurements are assumed to be already hard iron compensated, and the initial hard iron is assumed to be zero. If isMagnetometerGroundTruthInitialHardIron is true, this is assumed to be the true hard iron, and estimatedMagnetometerHardIronX will be equal to this value, otherwise estimatedMagnetometerHardIronX will be the estimated hard iron after solving calibration, which will differ from magnetometerInitialHardIronX.

Gets X-coordinate of hard iron used as an initial guess. This value is determined once the calibration starts. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the magnetometer hardware calibration. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER, then magnetometer sensor measurements are assumed to be already hard iron compensated, and the initial hard iron is assumed to be zero. If isMagnetometerGroundTruthInitialHardIron is true, this is assumed to be the true hard iron, and estimatedMagnetometerHardIronX will be equal to this value, otherwise estimatedMagnetometerHardIronX will be the estimated hard iron after solving calibration, which will differ from magnetometerInitialHardIronX.

Gets Y-coordinate of hard iron used as an initial guess and expressed in Teslas (T). This value is determined once the calibration starts. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the magnetometer hardware calibration. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER, then magnetometer sensor measurements are assumed to be already hard iron compensated, and the initial hard iron is assumed to be zero. If isMagnetometerGroundTruthInitialHardIron is true, this is assumed to be the true hard iron, and estimatedMagnetometerHardIronY will be equal to this value, otherwise estimatedMagnetometerHardIronY will be the estimated hard iron after solving calibration, which will differ from magnetometerInitialHardIronY.

Gets Y-coordinate of hard iron used as an initial guess. This value is determined once the calibration starts. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the magnetometer hardware calibration. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER, then magnetometer sensor measurements are assumed to be already hard iron compensated, and the initial hard iron is assumed to be zero. If isMagnetometerGroundTruthInitialHardIron is true, this is assumed to be the true hard iron, and estimatedMagnetometerHardIronY will be equal to this value, otherwise estimatedMagnetometerHardIronY will be the estimated hard iron after solving calibration, which will differ from magnetometerInitialHardIronY.

Gets Y-coordinate of hard iron used as an initial guess and expressed in Teslas (T). This value is determined once the calibration starts. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the magnetometer hardware calibration. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER, then magnetometer sensor measurements are assumed to be already hard iron compensated, and the initial hard iron is assumed to be zero. If isMagnetometerGroundTruthInitialHardIron is true, this is assumed to be the true hard iron, and estimatedMagnetometerHardIronZ will be equal to this value, otherwise estimatedMagnetometerHardIronZ will be the estimated hard iron after solving calibration, which will differ from magnetometerInitialHardIronZ.

Gets Z-coordinate of hard iron used as an initial guess. This value is determined once the calibration starts. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER_UNCALIBRATED, this will be equal to the value used internally by the device as part of the magnetometer hardware calibration. If magnetometerSensorType is MagnetometerSensorType.MAGNETOMETER, then magnetometer sensor measurements are assumed to be already hard iron compensated, and the initial hard iron is assumed to be zero. If isMagnetometerGroundTruthInitialHardIron is true, this is assumed to be the true hard iron, and estimatedMagnetometerHardIronZ will be equal to this value, otherwise estimatedMagnetometerHardIronZ will be the estimated hard iron after solving calibration, which will differ from magnetometerInitialHardIronZ.

Gets or sets initial magnetometer scaling factors and cross coupling errors matrix.

Gets or sets initial x-y cross coupling error for magnetometer calibration.

Gets or sets initial x-z cross coupling error for magnetometer calibration.

Gets or sets initial y-x cross coupling error for magnetometer calibration.

Gets or sets initial y-z cross coupling error for magnetometer calibration.

Gets or sets initial z-x cross coupling error for magnetometer calibration.

Gets or sets initial z-y cross coupling error for magnetometer calibration.

Gets or sets initial x scaling factor for magnetometer calibration.

Gets or sets initial y scaling factor for magnetometer calibration.

Gets or sets initial z scaling factor for magnetometer calibration.

List of magnetometer measurements that have been collected so far to be used for magnetometer calibration. Items in return list can be modified if needed, but beware that this might have consequences on solved calibration result.

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 magnetometerRobustMethod 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 magnetometerRobustMethod is specified.

Indicates robust method used to solve magnetometer calibration. If null, no robust method is used at all, and instead an LMSE solution is found.

Size of preliminary subsets picked while finding a robust magnetometer calibration solution. By default this is the minimumRequiredMagnetometerMeasurements, which results in the smallest number of iterations to complete robust algorithms. Larger values can be used to ensure that error in each preliminary solution is minimized among more measurements (thus, softening the effect of outliers), but this comes at the expense of larger number of iterations. This properly is only taken into account if a not-null magnetometerRobustMethod 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 magnetometerRobustMethod. By default, if null is provided, the estimated magnetometerBaseNoiseLevel 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 magnetometerRobustMethod 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 magnetometerBaseNoiseLevel, 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 tat in the estimated solution, will be considered an outlier and be discarded.

Gets magnetometer sensor being used to obtain measurements, or null if not available. This can be used to obtain additional information about the sensor.

Delay of magnetometer sensor between samples.

One of the supported magnetometer sensor types.

Gets estimated threshold to determine static/dynamic period changes expressed Teslas (T). This is only available once initialization is completed.

Gets estimated threshold to determine static/dynamic period changes. This is only available once initialization is completed.

Gets estimated standard deviation of time interval between magnetometer measurements expressed in seconds (s). Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Gets estimated standard deviation of time interval between magnetometer measurements. Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Gets estimated variance of time interval between magnetometer measurements expressed in squared seconds (s^2). Time interval is estimated only while initialization is running, consequently, this is only available once initialization is completed.

Gets minimum number of required measurements to start accelerometer calibration. Each time that the device is kept static, a new measurement is collected. When the required number of measurements for all sensors is collected, calibration can start.

Gets minimum number of required measurements to start gyroscope calibration. Each time that the device is moved, a new measurement is collected. When the required number of measurements for all sensors is collected, calibration can start.

Gets minimum number of required measurements to start magnetometer calibration. Each time that the device is kept static, a new measurement is collected. When the required number of measurements for all sensors is collected, calibration can start.

Gets minimum number of required measurements to start calibration. Each time that the device is kept static or moved, new accelerometer and gyroscope measurements are collected. When the required number of measurements is collected, calibration can start.

Number of accelerometer measurements that have been processed.

Number of gyroscope measurements that have been processed.

Gets number of samples that have been processed in a dynamic period so far.