Package com.irurueta.navigation.inertial.calibration

Class MagneticFluxDensityFixer

java.lang.Object
com.irurueta.navigation.inertial.calibration.MagneticFluxDensityFixer
public class MagneticFluxDensityFixer extends Object
Fixes magnetic flux density values taking into account provided bias and cross coupling errors.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private com.irurueta.algebra.Matrix
    bias
    Bias matrix to be reused.
    private com.irurueta.algebra.Matrix
    crossCouplingErrors
    Cross coupling errors matrix to be reused.
    private com.irurueta.algebra.Matrix
    diff
    Temporary matrix to be reused.
    private com.irurueta.algebra.Matrix
    identity
    Identity matrix to be reused.
    private final double[]
    measuredB
    Measured specific force array to be reused.
    private final double[]
    res
    Array containing result values to be reused.
    private com.irurueta.algebra.Matrix
    tmp1
    Temporary matrix to be reused.
    private com.irurueta.algebra.Matrix
    tmp2
    Temporary matrix to be reused.
    private com.irurueta.algebra.Matrix
    tmp3
    Temporary matrix to be reused.

  • Constructor Summary

    Constructors
    Constructor
    Description
    MagneticFluxDensityFixer()
    Constructor.

  • Method Summary

    Modifier and Type
    Method
    Description
    private static double
    convertMagneticFluxDensity(double value, com.irurueta.units.MagneticFluxDensityUnit unit)
    Converts magnetic flux density value and unit to Teslas (T).
    static double
    convertMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity b)
    Converts magnetic flux density to Teslas (T).
    void
    fix(double[] measuredB, double[] result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(double[] measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(double measuredBx, double measuredBy, double measuredBz, double[] result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy, double[] result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy, com.irurueta.algebra.Matrix result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors, com.irurueta.algebra.Matrix result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(double measuredBx, double measuredBy, double measuredBz, com.irurueta.algebra.Matrix result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(com.irurueta.algebra.Matrix measuredB, double[] result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(com.irurueta.algebra.Matrix measuredB, com.irurueta.algebra.Matrix result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(com.irurueta.algebra.Matrix measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(com.irurueta.algebra.Matrix measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, com.irurueta.algebra.Matrix result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(BodyMagneticFluxDensity measuredB, double[] result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(BodyMagneticFluxDensity measuredB, com.irurueta.algebra.Matrix result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(BodyMagneticFluxDensity measuredB, BodyMagneticFluxDensity result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(MagneticFluxDensityTriad measuredB, double[] result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(MagneticFluxDensityTriad measuredB, com.irurueta.algebra.Matrix result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(MagneticFluxDensityTriad measuredB, MagneticFluxDensityTriad result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(com.irurueta.units.MagneticFluxDensity measuredBx, com.irurueta.units.MagneticFluxDensity measuredBy, com.irurueta.units.MagneticFluxDensity measuredBz, BodyMagneticFluxDensity result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    void
    fix(com.irurueta.units.MagneticFluxDensity measuredBx, com.irurueta.units.MagneticFluxDensity measuredBy, com.irurueta.units.MagneticFluxDensity measuredBz, MagneticFluxDensityTriad result)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    double[]
    fixAndReturnNew(double[] measuredB)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    double[]
    fixAndReturnNew(double[] measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    double[]
    fixAndReturnNew(double measuredBx, double measuredBy, double measuredBz)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    double[]
    fixAndReturnNew(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    double[]
    fixAndReturnNew(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    double[]
    fixAndReturnNew(com.irurueta.algebra.Matrix measuredB)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    double[]
    fixAndReturnNew(com.irurueta.algebra.Matrix measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    MagneticFluxDensityTriad
    fixAndReturnNew(MagneticFluxDensityTriad measuredB)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    MagneticFluxDensityTriad
    fixAndReturnNew(com.irurueta.units.MagneticFluxDensity measuredBx, com.irurueta.units.MagneticFluxDensity measuredBy, com.irurueta.units.MagneticFluxDensity measuredBz)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    com.irurueta.algebra.Matrix
    fixAndReturnNewMatrix(double measuredBx, double measuredBy, double measuredBz)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    com.irurueta.algebra.Matrix
    fixAndReturnNewMatrix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    com.irurueta.algebra.Matrix
    fixAndReturnNewMatrix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    com.irurueta.algebra.Matrix
    fixAndReturnNewMatrix(com.irurueta.algebra.Matrix measuredB)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    com.irurueta.algebra.Matrix
    fixAndReturnNewMatrix(com.irurueta.algebra.Matrix measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors)
    Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density.
    com.irurueta.algebra.Matrix
    getBias()
    Gets bias values expressed in Teslas (T).
    void
    getBias(com.irurueta.algebra.Matrix result)
    Gets bias values expressed in Teslas (T).
    double[]
    getBiasArray()
    Gets bias values expressed in Teslas (T).
    void
    getBiasArray(double[] result)
    Gets bias values expressed in Teslas (T).
    BodyMagneticFluxDensity
    getBiasAsBodyMagneticFluxDensity()
    Gets bias.
    void
    getBiasAsBodyMagneticFluxDensity(BodyMagneticFluxDensity result)
    Gets bias.
    MagneticFluxDensityTriad
    getBiasAsTriad()
    Gets bias.
    void
    getBiasAsTriad(MagneticFluxDensityTriad result)
    Gets bias.
    double
    getBiasX()
    Gets x-coordinate of bias expressed in Teslas (T).
    com.irurueta.units.MagneticFluxDensity
    getBiasXAsMagneticFluxDensity()
    Gets x-coordinate of bias.
    void
    getBiasXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
    Gets x-coordinate of bias.
    double
    getBiasY()
    Gets y-coordinate of bias expressed in Teslas (T).
    com.irurueta.units.MagneticFluxDensity
    getBiasYAsMagneticFluxDensity()
    Gets y-coordinate of bias.
    void
    getBiasYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
    Gets y-coordinate of bias.
    double
    getBiasZ()
    Gets z-coordinate of bias expressed in Teslas (T).
    com.irurueta.units.MagneticFluxDensity
    getBiasZAsMagneticFluxDensity()
    Gets z-coordinate of bias.
    void
    getBiasZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
    Gets z-coordinate of bias.
    com.irurueta.algebra.Matrix
    getCrossCouplingErrors()
    Gets cross coupling errors matrix.
    void
    getCrossCouplingErrors(com.irurueta.algebra.Matrix result)
    Gets cross coupling errors matrix.
    double
    getMxy()
    Gets x-y cross coupling error.
    double
    getMxz()
    Gets x-z cross coupling error.
    double
    getMyx()
    Gets y-x cross coupling error.
    double
    getMyz()
    Gets y-z cross coupling error.
    double
    getMzx()
    Gets z-x cross coupling error.
    double
    getMzy()
    Gets z-y cross coupling error.
    double
    getSx()
    Gets x scaling factor.
    double
    getSy()
    Gets y scaling factor.
    double
    getSz()
    Gets z scaling factor.
    void
    setBias(double[] bias)
    Sets bias values expressed in Teslas (T).
    void
    setBias(double biasX, double biasY, double biasZ)
    Sets coordinates of bias expressed in Teslas (T).
    void
    setBias(com.irurueta.algebra.Matrix bias)
    Sets bias values expressed in Teslas (T).
    void
    setBias(BodyMagneticFluxDensity bias)
    Sets bias.
    void
    setBias(MagneticFluxDensityTriad bias)
    Sets bias.
    void
    setBias(com.irurueta.units.MagneticFluxDensity biasX, com.irurueta.units.MagneticFluxDensity biasY, com.irurueta.units.MagneticFluxDensity biasZ)
    Sets coordinates of bias.
    void
    setBiasX(double biasX)
    Sets x-coordinate of bias expressed in Teslas (T).
    void
    setBiasX(com.irurueta.units.MagneticFluxDensity biasX)
    Sets x-coordinate of bias.
    void
    setBiasY(double biasY)
    Sets y-coordinate of bias expressed in Teslas (T).
    void
    setBiasY(com.irurueta.units.MagneticFluxDensity biasY)
    Sets y-coordinate of bias.
    void
    setBiasZ(double biasZ)
    Sets z-coordinate of bias expressed in Teslas (T).
    void
    setBiasZ(com.irurueta.units.MagneticFluxDensity biasZ)
    Sets z-coordinate of bias.
    void
    setCrossCouplingErrors(double mxy, double mxz, double myx, double myz, double mzx, double mzy)
    Sets cross coupling errors.
    void
    setCrossCouplingErrors(com.irurueta.algebra.Matrix crossCouplingErrors)
    Sets cross coupling errors matrix.
    void
    setMxy(double mxy)
    Sets x-y cross coupling error.
    void
    setMxz(double mxz)
    Sets x-z cross coupling error.
    void
    setMyx(double myx)
    Sets y-x cross coupling error.
    void
    setMyz(double myz)
    Sets y-z cross coupling error.
    void
    setMzx(double mzx)
    Sets z-x cross coupling error.
    void
    setMzy(double mzy)
    Sets z-y cross coupling error.
    void
    setScalingFactors(double sx, double sy, double sz)
    Sets scaling factors.
    void
    setScalingFactorsAndCrossCouplingErrors(double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy)
    Sets scaling factors and cross coupling errors.
    void
    setSx(double sx)
    Sets x scaling factor
    void
    setSy(double sy)
    Sets y scaling factor.
    void
    setSz(double sz)
    Sets z scaling factor.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • identity

      private com.irurueta.algebra.Matrix identity
      Identity matrix to be reused.

    • tmp1

      private com.irurueta.algebra.Matrix tmp1
      Temporary matrix to be reused.

    • tmp2

      private com.irurueta.algebra.Matrix tmp2
      Temporary matrix to be reused.

    • diff

      private com.irurueta.algebra.Matrix diff
      Temporary matrix to be reused.

    • tmp3

      private com.irurueta.algebra.Matrix tmp3
      Temporary matrix to be reused.

    • measuredB

      private final double[] measuredB
      Measured specific force array to be reused.

    • res

      private final double[] res
      Array containing result values to be reused.

    • bias

      private com.irurueta.algebra.Matrix bias
      Bias matrix to be reused.

    • crossCouplingErrors

      private com.irurueta.algebra.Matrix crossCouplingErrors
      Cross coupling errors matrix to be reused.

  • Constructor Details

    • MagneticFluxDensityFixer

      public MagneticFluxDensityFixer()
      Constructor.

  • Method Details

    • getBias

      public com.irurueta.algebra.Matrix getBias()
      Gets bias values expressed in Teslas (T).
      Returns:
      bias values expressed in Teslas.

    • getBias

      public void getBias(com.irurueta.algebra.Matrix result)
      Gets bias values expressed in Teslas (T).
      Parameters:
      result - instance where result will be stored.

    • setBias

      public void setBias(com.irurueta.algebra.Matrix bias)
      Sets bias values expressed in Teslas (T).
      Parameters:
      bias - bias values expressed in Teslas. Must be 3x1.

    • getBiasArray

      public double[] getBiasArray()
      Gets bias values expressed in Teslas (T).
      Returns:
      bias values expressed in Teslas.

    • getBiasArray

      public void getBiasArray(double[] result)
      Gets bias values expressed in Teslas (T).
      Parameters:
      result - instance where result data will be stored.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setBias

      public void setBias(double[] bias)
      Sets bias values expressed in Teslas (T).
      Parameters:
      bias - bias values expressed in Teslas (T). Must have length 3.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • getBiasAsBodyMagneticFluxDensity

      public BodyMagneticFluxDensity getBiasAsBodyMagneticFluxDensity()
      Gets bias.
      Returns:
      bias.

    • getBiasAsBodyMagneticFluxDensity

      public void getBiasAsBodyMagneticFluxDensity(BodyMagneticFluxDensity result)
      Gets bias.
      Parameters:
      result - instance where result will be stored.

    • setBias

      public void setBias(BodyMagneticFluxDensity bias)
      Sets bias.
      Parameters:
      bias - bias to be set.

    • getBiasAsTriad

      public MagneticFluxDensityTriad getBiasAsTriad()
      Gets bias.
      Returns:
      bias.

    • getBiasAsTriad

      public void getBiasAsTriad(MagneticFluxDensityTriad result)
      Gets bias.
      Parameters:
      result - instance where result will be stored.

    • setBias

      public void setBias(MagneticFluxDensityTriad bias)
      Sets bias.
      Parameters:
      bias - bias to be set.

    • getBiasX

      public double getBiasX()
      Gets x-coordinate of bias expressed in Teslas (T).
      Returns:
      x-coordinate of bias expressed in Teslas (T).

    • setBiasX

      public void setBiasX(double biasX)
      Sets x-coordinate of bias expressed in Teslas (T).
      Parameters:
      biasX - x-coordinate of bias expressed in Teslas (T).

    • getBiasY

      public double getBiasY()
      Gets y-coordinate of bias expressed in Teslas (T).
      Returns:
      y-coordinate of bias expressed in Teslas (T).

    • setBiasY

      public void setBiasY(double biasY)
      Sets y-coordinate of bias expressed in Teslas (T).
      Parameters:
      biasY - y-coordinate of bias expressed in Teslas (T).

    • getBiasZ

      public double getBiasZ()
      Gets z-coordinate of bias expressed in Teslas (T).
      Returns:
      z-coordinate of bias expressed in Teslas (T).

    • setBiasZ

      public void setBiasZ(double biasZ)
      Sets z-coordinate of bias expressed in Teslas (T).
      Parameters:
      biasZ - z-coordinate of bias expressed in Teslas (T).

    • setBias

      public void setBias(double biasX, double biasY, double biasZ)
      Sets coordinates of bias expressed in Teslas (T).
      Parameters:
      biasX - x-coordinate of bias.
      biasY - y-coordinate of bias.
      biasZ - z-coordinate of bias.

    • getBiasXAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getBiasXAsMagneticFluxDensity()
      Gets x-coordinate of bias.
      Returns:
      x-coordinate of bias.

    • getBiasXAsMagneticFluxDensity

      public void getBiasXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets x-coordinate of bias.
      Parameters:
      result - instance where result will be stored.

    • setBiasX

      public void setBiasX(com.irurueta.units.MagneticFluxDensity biasX)
      Sets x-coordinate of bias.
      Parameters:
      biasX - x-coordinate of bias.

    • getBiasYAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getBiasYAsMagneticFluxDensity()
      Gets y-coordinate of bias.
      Returns:
      y-coordinate of bias.

    • getBiasYAsMagneticFluxDensity

      public void getBiasYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets y-coordinate of bias.
      Parameters:
      result - instance where result will be stored.

    • setBiasY

      public void setBiasY(com.irurueta.units.MagneticFluxDensity biasY)
      Sets y-coordinate of bias.
      Parameters:
      biasY - y-coordinate of bias.

    • getBiasZAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getBiasZAsMagneticFluxDensity()
      Gets z-coordinate of bias.
      Returns:
      z-coordinate of bias.

    • getBiasZAsMagneticFluxDensity

      public void getBiasZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets z-coordinate of bias.
      Parameters:
      result - instance where result will be stored.

    • setBiasZ

      public void setBiasZ(com.irurueta.units.MagneticFluxDensity biasZ)
      Sets z-coordinate of bias.
      Parameters:
      biasZ - z-coordinate of bias.

    • setBias

      public void setBias(com.irurueta.units.MagneticFluxDensity biasX, com.irurueta.units.MagneticFluxDensity biasY, com.irurueta.units.MagneticFluxDensity biasZ)
      Sets coordinates of bias.
      Parameters:
      biasX - x-coordinate of bias.
      biasY - y-coordinate of bias.
      biasZ - z-coordinate of bias.

    • getCrossCouplingErrors

      public com.irurueta.algebra.Matrix getCrossCouplingErrors()
      Gets cross coupling errors matrix.
      Returns:
      cross coupling errors matrix.

    • getCrossCouplingErrors

      public void getCrossCouplingErrors(com.irurueta.algebra.Matrix result)
      Gets cross coupling errors matrix.
      Parameters:
      result - instance where result will be stored.

    • setCrossCouplingErrors

      public void setCrossCouplingErrors(com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Sets cross coupling errors matrix.
      Parameters:
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided matrix cannot be inverted.
      IllegalArgumentException - if provided matrix is not 3x3.

    • getSx

      public double getSx()
      Gets x scaling factor.
      Returns:
      x scaling factor.

    • setSx

      public void setSx(double sx) throws com.irurueta.algebra.AlgebraException
      Sets x scaling factor
      Parameters:
      sx - x scaling factor.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non-invertible.

    • getSy

      public double getSy()
      Gets y scaling factor.
      Returns:
      y scaling factor.

    • setSy

      public void setSy(double sy) throws com.irurueta.algebra.AlgebraException
      Sets y scaling factor.
      Parameters:
      sy - y scaling factor.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non-invertible.

    • getSz

      public double getSz()
      Gets z scaling factor.
      Returns:
      z scaling factor.

    • setSz

      public void setSz(double sz) throws com.irurueta.algebra.AlgebraException
      Sets z scaling factor.
      Parameters:
      sz - z scaling factor.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non-invertible.

    • getMxy

      public double getMxy()
      Gets x-y cross coupling error.
      Returns:
      x-y cross coupling error.

    • setMxy

      public void setMxy(double mxy) throws com.irurueta.algebra.AlgebraException
      Sets x-y cross coupling error.
      Parameters:
      mxy - x-y cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non-invertible.

    • getMxz

      public double getMxz()
      Gets x-z cross coupling error.
      Returns:
      x-z cross coupling error.

    • setMxz

      public void setMxz(double mxz) throws com.irurueta.algebra.AlgebraException
      Sets x-z cross coupling error.
      Parameters:
      mxz - x-z cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non-invertible.

    • getMyx

      public double getMyx()
      Gets y-x cross coupling error.
      Returns:
      y-x cross coupling error.

    • setMyx

      public void setMyx(double myx) throws com.irurueta.algebra.AlgebraException
      Sets y-x cross coupling error.
      Parameters:
      myx - y-x cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non-invertible.

    • getMyz

      public double getMyz()
      Gets y-z cross coupling error.
      Returns:
      y-z cross coupling error.

    • setMyz

      public void setMyz(double myz) throws com.irurueta.algebra.AlgebraException
      Sets y-z cross coupling error.
      Parameters:
      myz - y-z cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non-invertible.

    • getMzx

      public double getMzx()
      Gets z-x cross coupling error.
      Returns:
      z-x cross coupling error.

    • setMzx

      public void setMzx(double mzx) throws com.irurueta.algebra.AlgebraException
      Sets z-x cross coupling error.
      Parameters:
      mzx - z-x cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non-invertible.

    • getMzy

      public double getMzy()
      Gets z-y cross coupling error.
      Returns:
      z-y cross coupling error.

    • setMzy

      public void setMzy(double mzy) throws com.irurueta.algebra.AlgebraException
      Sets z-y cross coupling error.
      Parameters:
      mzy - z-y cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non-invertible.

    • setScalingFactors

      public void setScalingFactors(double sx, double sy, double sz) throws com.irurueta.algebra.AlgebraException
      Sets scaling factors.
      Parameters:
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided values make cross coupling matrix non-invertible.

    • setCrossCouplingErrors

      public void setCrossCouplingErrors(double mxy, double mxz, double myx, double myz, double mzx, double mzy) throws com.irurueta.algebra.AlgebraException
      Sets cross coupling errors.
      Parameters:
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided values make cross coupling matrix non-invertible.

    • setScalingFactorsAndCrossCouplingErrors

      public void setScalingFactorsAndCrossCouplingErrors(double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy) throws com.irurueta.algebra.AlgebraException
      Sets scaling factors and cross coupling errors.
      Parameters:
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided values make cross coupling matrix non-invertible.

    • fix

      public void fix(BodyMagneticFluxDensity measuredB, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured body magnetic flux.
      result - instance where restored true magnetic flux density will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if length of provided result array is not 3.

    • fix

      public void fix(MagneticFluxDensityTriad measuredB, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured body magnetic flux.
      result - instance where restored true magnetic flux density will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if length of provided result array is not 3.

    • fix

      public void fix(BodyMagneticFluxDensity measuredB, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured body magnetic flux.
      result - instance where restored true magnetic flux density will be stored. Must be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if provided result matrix is not 3x1.

    • fix

      public void fix(MagneticFluxDensityTriad measuredB, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured body magnetic flux.
      result - instance where restored true magnetic flux density will be stored. Must be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if provided result matrix is not 3x1.

    • fix

      public void fix(BodyMagneticFluxDensity measuredB, BodyMagneticFluxDensity result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured body magnetic flux.
      result - instance where restored true magnetic flux density will be stored.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fix

      public void fix(MagneticFluxDensityTriad measuredB, MagneticFluxDensityTriad result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured body magnetic flux.
      result - instance where restored true magnetic flux density will be stored.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fix

      public void fix(com.irurueta.units.MagneticFluxDensity measuredBx, com.irurueta.units.MagneticFluxDensity measuredBy, com.irurueta.units.MagneticFluxDensity measuredBz, BodyMagneticFluxDensity result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density.
      measuredBy - y-coordinate of measured magnetic flux density.
      measuredBz - z-coordinate of measured magnetic flux density.
      result - instance where restored true magnetic flux density will be stored.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fix

      public void fix(com.irurueta.units.MagneticFluxDensity measuredBx, com.irurueta.units.MagneticFluxDensity measuredBy, com.irurueta.units.MagneticFluxDensity measuredBz, MagneticFluxDensityTriad result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density.
      measuredBy - y-coordinate of measured magnetic flux density.
      measuredBz - z-coordinate of measured magnetic flux density.
      result - instance where restored true magnetic flux density will be stored.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fix

      public void fix(double[] measuredB, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must have length 3.
      result - instance where restored true magnetic flux density will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(com.irurueta.algebra.Matrix measuredB, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must be 3x1.
      result - instance where restored true magnetic flux density will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(com.irurueta.algebra.Matrix measuredB, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must be 3x1.
      result - instance where restored true magnetic flux density will be stored. Must be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(double measuredBx, double measuredBy, double measuredBz, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      result - instance where restored true magnetic flux density will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if provided result array does not have length 3.

    • fix

      public void fix(double measuredBx, double measuredBy, double measuredBz, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      result - instance where restored true magnetic flux density will be stored. Must be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if provided result matrix is not 3x1.

    • fix

      public void fix(double[] measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must have length 3.
      bias - bias values expressed in Teslas (T). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      result - instance where restored true specific force will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(com.irurueta.algebra.Matrix measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must be 3x1.
      bias - bias values expressed in Teslas (T). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      result - instance where restored true specific force will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(com.irurueta.algebra.Matrix measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must be 3x1.
      bias - bias values expressed in Teslas (T). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      result - instance where restored true specific force will be stored. Must be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      biasX - x-coordinate of bias expressed in Teslas (T).
      biasY - y-coordinate of bias expressed in Teslas (T).
      biasZ - z-coordinate of bias expressed in Teslas (T).
      crossCouplingErrors - cross-coupling errors matrix. Must be 3x3.
      result - instance where restored true magnetic flux density will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      biasX - x-coordinate of bias expressed in Teslas (T).
      biasY - y-coordinate of bias expressed in Teslas (T).
      biasZ - z-coordinate of bias expressed in Teslas (T).
      crossCouplingErrors - cross-coupling errors matrix. Must be 3x3.
      result - instance where restored true magnetic flux density will be stored. Must be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      biasX - x-coordinate of bias expressed in Teslas (T).
      biasY - y-coordinate of bias expressed in Teslas (T).
      biasZ - z-coordinate of bias expressed in Teslas (T).
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      result - instance where restored true magnetic flux density will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if result does not have length 3.

    • fix

      public void fix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      biasX - x-coordinate of bias expressed in Teslas (T).
      biasY - y-coordinate of bias expressed in Teslas (T).
      biasZ - z-coordinate of bias expressed in Teslas (T).
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      result - instance where restored true magnetic flux density will be stored. Must be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if result is not 3x1.

    • fixAndReturnNew

      public MagneticFluxDensityTriad fixAndReturnNew(MagneticFluxDensityTriad measuredB) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured body magnetic flux density.
      Returns:
      restored true magnetic flux density.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fixAndReturnNew

      public MagneticFluxDensityTriad fixAndReturnNew(com.irurueta.units.MagneticFluxDensity measuredBx, com.irurueta.units.MagneticFluxDensity measuredBy, com.irurueta.units.MagneticFluxDensity measuredBz) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density.
      measuredBy - y-coordinate of measured magnetic flux density.
      measuredBz - z-coordinate of measured magnetic flux density.
      Returns:
      restored true magnetic flux density.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fixAndReturnNew

      public double[] fixAndReturnNew(double[] measuredB) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must have length 3.
      Returns:
      restored true magnetic flux density.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if provided array does not have length 3.

    • fixAndReturnNew

      public double[] fixAndReturnNew(com.irurueta.algebra.Matrix measuredB) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must be 3x1.
      Returns:
      restored true magnetic flux density.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if provided matrix is not 3x1.

    • fixAndReturnNewMatrix

      public com.irurueta.algebra.Matrix fixAndReturnNewMatrix(com.irurueta.algebra.Matrix measuredB) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must be 3x1.
      Returns:
      restored true magnetic flux density.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if provided matrix is not 3x1.

    • fixAndReturnNew

      public double[] fixAndReturnNew(double measuredBx, double measuredBy, double measuredBz) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      Returns:
      restored true magnetic flux density.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fixAndReturnNewMatrix

      public com.irurueta.algebra.Matrix fixAndReturnNewMatrix(double measuredBx, double measuredBy, double measuredBz) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      Returns:
      restored true magnetic flux density.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fixAndReturnNew

      public double[] fixAndReturnNew(double[] measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must have length 3.
      bias - bias values expressed in Teslas (T). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Returns:
      restored true magnetic flux density expressed in Teslas (T).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNew

      public double[] fixAndReturnNew(com.irurueta.algebra.Matrix measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must be 3x1.
      bias - bias values expressed in Teslas (T). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Returns:
      restored true magnetic flux density expressed in Teslas (T).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNewMatrix

      public com.irurueta.algebra.Matrix fixAndReturnNewMatrix(com.irurueta.algebra.Matrix measuredB, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredB - measured magnetic flux density expressed in Teslas (T). Must be 3x1.
      bias - bias values expressed in Teslas (T). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Returns:
      restored true magnetic flux density expressed in Teslas (T).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNew

      public double[] fixAndReturnNew(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      biasX - x-coordinate of bias expressed in Teslas (T).
      biasY - y-coordinate of bias expressed in Teslas (T).
      biasZ - z-coordinate of bias expressed in Teslas (T).
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Returns:
      restored true magnetic flux density expressed in Teslas (T).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNewMatrix

      public com.irurueta.algebra.Matrix fixAndReturnNewMatrix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      biasX - x-coordinate of bias expressed in Teslas (T).
      biasY - y-coordinate of bias expressed in Teslas (T).
      biasZ - z-coordinate of bias expressed in Teslas (T).
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Returns:
      restored true magnetic flux density expressed in Teslas (T).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNew

      public double[] fixAndReturnNew(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      biasX - x-coordinate of bias expressed in Teslas (T).
      biasY - y-coordinate of bias expressed in Teslas (T).
      biasZ - z-coordinate of bias expressed in Teslas (T).
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      Returns:
      restored true magnetic flux density expressed in Teslas (T).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fixAndReturnNewMatrix

      public com.irurueta.algebra.Matrix fixAndReturnNewMatrix(double measuredBx, double measuredBy, double measuredBz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured body magnetic flux density values by undoing the errors introduced by the magnetometer model to restore the true body magnetic flux density. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredBx - x-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBy - y-coordinate of measured magnetic flux density expressed in Teslas (T).
      measuredBz - z-coordinate of measured magnetic flux density expressed in Teslas (T).
      biasX - x-coordinate of bias expressed in Teslas (T).
      biasY - y-coordinate of bias expressed in Teslas (T).
      biasZ - z-coordinate of bias expressed in Teslas (T).
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      Returns:
      restored true magnetic flux density expressed in Teslas (T).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • convertMagneticFluxDensity

      private static double convertMagneticFluxDensity(double value, com.irurueta.units.MagneticFluxDensityUnit unit)
      Converts magnetic flux density value and unit to Teslas (T).
      Parameters:
      value - value to be converted.
      unit - unit of value to be converted.
      Returns:
      converted value.

    • convertMagneticFluxDensity

      public static double convertMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity b)
      Converts magnetic flux density to Teslas (T).
      Parameters:
      b - magnetic flux density to be converted.
      Returns:
      converted value.