StaticIntervalMagnetometerCalibrator

Constructor.

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

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.

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

Delay of 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 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 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 magnetometer calibration measurement is generated.

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 hard iron values 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 whether last dynamic interval must be skipped.

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 calibration process can be solved.

Indicates whether last static interval must be skipped.

Location of device when running calibration. This is only taken into account if both location and timestamp are provided to determine Earth's magnetic field according to provided World Magnetic Model. If either location or timestamp is missing, then measurement of magnetic field norm will be used instead.

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

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 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, a new measurement is collected. When the required number of measurements is collected, calibration can start.

Number of accelerometer measurements that have been processed.

Number of magnetometer measurements that have been processed.

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

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

listener to notify when enough measurements have been collected and calibrator is ready to solve calibration.

Required number of measurements to be collected before calibration can start. The number of required measurements must be greater than minimumRequiredMeasurements, otherwise at least minimumRequiredMeasurements will be collected before calibration can start.

Indicates whether calibrator is running. While calibrator is running, calibrator parameters cannot be changed.

true to automatically solve calibration once enough measurements are available, false otherwise.

listener to notify when a static interval is detected.

listener to notify when a static interval is skipped if its duration is too short.

listener to notify when calibrator is stopped.

Gets estimated threshold to determine static/dynamic period changes expressed in meters per squared second (m/s^2). This is only available once internal generator completes initialization.

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

Gets or sets factor to be applied to detected base noise level in order to determine a threshold for static/dynamic period changes. This factor is unit-less.

Gets or sets current timestamp. This is only taken into account if both location and timestamp are provided to determine Earth's magnetic field according to provided World Magnetic Model. If either location or timestamp is missing, then measurement of magnetic field norm will be used instead.

Gets or sets length of number of samples to keep within the window being processed to determine instantaneous sensor noise level during initialization of the internal calibrator measurement generator. Window size must always be larger than allowed minimum value, which is 2 and must have an odd value.

Sets Earth's magnetic model. Null indicates that default model is being used.

Solves calibration using collected measurements. This must be explicitly called after enough measurements are collected if solveCalibrationWhenEnoughMeasurements is false.

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

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

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

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

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. 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. 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 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 initial magnetometer scale factors and cross coupling errors matrix.

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

Sets initial cross coupling errors for magnetometer calibration.

Sets initial scaling factors for magnetometer calibration.

Sets initial scaling factors and cross couping errors for magnetometer calibration.

Starts calibrator. This method starts collecting sensor measurements. When calibrator is started, it begins with an initialization stage where sensor noise is estimated while device remains static. Once initialization is completed, calibrator determines intervals where device remains static when device has different poses, so that measurements are collected to solve calibration. If solveCalibrationWhenEnoughMeasurements is true, calibration is automatically solved once enough measurements are collected, otherwise a call to calibrate must be done to solve calibration.

Stops calibrator. When this is called, no more sensor measurements are collected.