Package com.irurueta.navigation.inertial.calibration.magnetometer

Class KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.magnetometer.KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator
All Implemented Interfaces:
KnownHardIronAndFrameMagnetometerCalibrator<FrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener>, KnownHardIronMagnetometerCalibrator, MagnetometerCalibrator, UnorderedFrameBodyMagneticFluxDensityMagnetometerCalibrator
public class KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator extends Object implements KnownHardIronAndFrameMagnetometerCalibrator<FrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener>, UnorderedFrameBodyMagneticFluxDensityMagnetometerCalibrator
Estimates magnetometer soft-iron cross couplings and scaling factors.

This calibrator uses a linear approach to find a minimum least squared error solution.

To use this calibrator at least 3 measurements at different known frames must be provided. In other words, magnetometer samples must be obtained at 3 different positions or orientations. Notice that frame velocities are ignored by this calibrator.

Measured magnetic flux density is assumed to follow the model shown below: 

     mBmeas = bm + (I + Mm) * mBtrue + w
Where: - mBmeas is the measured magnetic flux density. This is a 3x1 vector. - bm is magnetometer hard-iron bias. Ideally, on a perfect magnetometer, this should be a 3x1 zero vector. - I is the 3x3 identity matrix. - Mm is the 3x3 soft-iron matrix containing cross-couplings and scaling factors. Ideally, on a perfect magnetometer, this should be a 3x3 zero matrix. - mBtrue is ground-truth magnetic flux density. This is a 3x1 vector. - w is measurement noise. This is a 3x1 vector.

  • Field Details

    • DEFAULT_USE_COMMON_Z_AXIS

      public static final boolean DEFAULT_USE_COMMON_Z_AXIS
      Indicates whether by default a common z-axis is assumed for the accelerometer, gyroscope and magnetometer.
      See Also:

    • MINIMUM_MEASUREMENTS

      public static final int MINIMUM_MEASUREMENTS
      Required minimum number of measurements.
      See Also:

    • EQUATIONS_PER_MEASUREMENT

      private static final int EQUATIONS_PER_MEASUREMENT
      Number of equations generated for each measurement.
      See Also:

    • COMMON_Z_AXIS_UNKNOWNS

      private static final int COMMON_Z_AXIS_UNKNOWNS
      Number of unknowns when common z-axis is assumed for the accelerometer, gyroscope and magnetometer.
      See Also:

    • GENERAL_UNKNOWNS

      private static final int GENERAL_UNKNOWNS
      Number of unknowns for the general case.
      See Also:

    • hardIronX

      private double hardIronX
      X-coordinate of known hard-iron bias. This is expressed in Teslas (T).

    • hardIronY

      private double hardIronY
      Y-coordinate of known hard-iron bias. This is expressed in Teslas (T).

    • hardIronZ

      private double hardIronZ
      Z-coordinate of known hard-iron bias. This is expressed in Teslas (T).

    • measurements

      private Collection<FrameBodyMagneticFluxDensity> measurements
      Contains a collection of body magnetic flux density measurements taken at different frames (positions and orientations). If a single device magnetometer needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate a given magnetometer model (e.g. obtain an average and less precise calibration for the magnetometer of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

    • commonAxisUsed

      private boolean commonAxisUsed
      This flag indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer. When enabled, this eliminates 3 variables from Mm matrix.

    • listener

      private KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener
      Listener to handle events raised by this calibrator.

    • estimatedMm

      private com.irurueta.algebra.Matrix estimatedMm
      Estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors. This is the product of matrix Tm containing cross coupling errors and Km containing scaling factors. So tat: 
           Mm = [sx    mxy  mxz] = Tm*Km
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Km = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Tm = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix becomes upper diagonal: 
           Mm = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.

    • running

      private boolean running
      Indicates whether calibrator is running.

    • magneticModel

      private WorldMagneticModel magneticModel
      Contains Earth's magnetic model.

  • Constructor Details

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator()
      Constructor.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel)
      Constructor.
      Parameters:
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(double hardIronX, double hardIronY, double hardIronZ)
      Constructor.
      Parameters:
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, double hardIronX, double hardIronY, double hardIronZ)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ)
      Constructor.
      Parameters:
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ)
      Constructor
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIronX - x-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronY - y-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      hardIronZ - z-coordinate of magnetometer hard-iron bias expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(double[] hardIron)
      Constructor.
      Parameters:
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(double[] hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, double[] hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, double[] hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, double[] hardIron)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, double[] hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, double[] hardIron)
      Constructor.
      Parameters:
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, double[] hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double[] hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double[] hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, double[] hardIron)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, double[] hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double[] hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double[] hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator(Collection<? extends FrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions and orientations).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

  • Method Details

    • getHardIronX

      public double getHardIronX()
      Gets x-coordinate of known magnetometer hard-iron bias. This is expressed in Teslas (T).
      Specified by:
      getHardIronX in interface KnownHardIronMagnetometerCalibrator
      Returns:
      x-coordinate of known magnetometer hard-iron bias.

    • setHardIronX

      public void setHardIronX(double hardIronX) throws com.irurueta.navigation.LockedException
      Sets x-coordinate of known magnetometer hard-iron bias. This is expressed in Teslas (T).
      Specified by:
      setHardIronX in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronX - x coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronY

      public double getHardIronY()
      Gets y-coordinate of known magnetometer hard-iron bias. This is expressed in Teslas (T).
      Specified by:
      getHardIronY in interface KnownHardIronMagnetometerCalibrator
      Returns:
      y-coordinate of known magnetometer hard-iron bias.

    • setHardIronY

      public void setHardIronY(double hardIronY) throws com.irurueta.navigation.LockedException
      Sets y-coordinate of known magnetometer hard-iron bias. This is expressed in Teslas (T).
      Specified by:
      setHardIronY in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronY - y coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronZ

      public double getHardIronZ()
      Gets z-coordinate of known magnetometer hard-iron bias. This is expressed in Teslas (T).
      Specified by:
      getHardIronZ in interface KnownHardIronMagnetometerCalibrator
      Returns:
      z-coordinate of known magnetometer hard-iron bias.

    • setHardIronZ

      public void setHardIronZ(double hardIronZ) throws com.irurueta.navigation.LockedException
      Sets z-coordinate of known magnetometer hard-iron bias. This is expressed in Teslas (T).
      Specified by:
      setHardIronZ in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronZ - z coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronXAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getHardIronXAsMagneticFluxDensity()
      Gets known x coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronXAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Returns:
      x coordinate of magnetometer hard-iron.

    • getHardIronXAsMagneticFluxDensity

      public void getHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets known x coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronXAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setHardIronX

      public void setHardIronX(com.irurueta.units.MagneticFluxDensity hardIronX) throws com.irurueta.navigation.LockedException
      Sets known x-coordinate of magnetometer hard-iron.
      Specified by:
      setHardIronX in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronX - known x-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronYAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getHardIronYAsMagneticFluxDensity()
      Gets known y coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronYAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Returns:
      y coordinate of magnetometer hard-iron.

    • getHardIronYAsMagneticFluxDensity

      public void getHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets known y coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronYAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setHardIronY

      public void setHardIronY(com.irurueta.units.MagneticFluxDensity hardIronY) throws com.irurueta.navigation.LockedException
      Sets known y-coordinate of magnetometer hard-iron.
      Specified by:
      setHardIronY in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronY - known y-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronZAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getHardIronZAsMagneticFluxDensity()
      Gets known z coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronZAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Returns:
      z coordinate of magnetometer hard-iron.

    • getHardIronZAsMagneticFluxDensity

      public void getHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets known z coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronZAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setHardIronZ

      public void setHardIronZ(com.irurueta.units.MagneticFluxDensity hardIronZ) throws com.irurueta.navigation.LockedException
      Sets known z-coordinate of magnetometer hard-iron.
      Specified by:
      setHardIronZ in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronZ - known z-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setHardIronCoordinates

      public void setHardIronCoordinates(double hardIronX, double hardIronY, double hardIronZ) throws com.irurueta.navigation.LockedException
      Sets known hard-iron bias coordinates of magnetometer expressed in Teslas (T).
      Specified by:
      setHardIronCoordinates in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronX - x-coordinate of magnetometer hard-iron.
      hardIronY - y-coordinate of magnetometer hard-iron.
      hardIronZ - z-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setHardIronCoordinates

      public void setHardIronCoordinates(com.irurueta.units.MagneticFluxDensity hardIronX, com.irurueta.units.MagneticFluxDensity hardIronY, com.irurueta.units.MagneticFluxDensity hardIronZ) throws com.irurueta.navigation.LockedException
      Sets known hard-iron coordinates.
      Specified by:
      setHardIronCoordinates in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronX - x-coordinate of magnetometer hard-iron.
      hardIronY - y-coordinate of magnetometer hard-iron.
      hardIronZ - z-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronAsTriad

      public MagneticFluxDensityTriad getHardIronAsTriad()
      Gets known hard-iron.
      Specified by:
      getHardIronAsTriad in interface KnownHardIronMagnetometerCalibrator
      Returns:
      known hard-iron.

    • getHardIronAsTriad

      public void getHardIronAsTriad(MagneticFluxDensityTriad result)
      Gets known hard-iron.
      Specified by:
      getHardIronAsTriad in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setHardIron

      public void setHardIron(MagneticFluxDensityTriad hardIron) throws com.irurueta.navigation.LockedException
      Sets known hard-iron.
      Specified by:
      setHardIron in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIron - hard-iron to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurements

      public Collection<FrameBodyMagneticFluxDensity> getMeasurements()
      Gets a collection of body magnetic flux density measurements taken at different frames (positions, orientations and velocities). If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
      Specified by:
      getMeasurements in interface KnownHardIronAndFrameMagnetometerCalibrator<FrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener>
      Specified by:
      getMeasurements in interface UnorderedFrameBodyMagneticFluxDensityMagnetometerCalibrator
      Returns:
      a collection of body magnetic flux density measurements taken at different frames (positions, orientations and velocities).

    • setMeasurements

      public void setMeasurements(Collection<? extends FrameBodyMagneticFluxDensity> measurements) throws com.irurueta.navigation.LockedException
      Sets a collection of body magnetic flux density measurements taken at different frames (positions, orientations and velocities). If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
      Specified by:
      setMeasurements in interface KnownHardIronAndFrameMagnetometerCalibrator<FrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener>
      Specified by:
      setMeasurements in interface UnorderedFrameBodyMagneticFluxDensityMagnetometerCalibrator
      Parameters:
      measurements - collection of body magnetic flux density measurements taken at different frames (positions, orientations and velocities).
      Throws:
      com.irurueta.navigation.LockedException - if estimator is currently running.

    • getMeasurementType

      public MagnetometerCalibratorMeasurementType getMeasurementType()
      Indicates the type of measurement used by this calibrator.
      Specified by:
      getMeasurementType in interface MagnetometerCalibrator
      Returns:
      type of measurement used by this calibrator.

    • isOrderedMeasurementsRequired

      public boolean isOrderedMeasurementsRequired()
      Indicates whether this calibrator requires ordered measurements in a list or not.
      Specified by:
      isOrderedMeasurementsRequired in interface MagnetometerCalibrator
      Returns:
      true if measurements must be ordered, false otherwise.

    • isQualityScoresRequired

      public boolean isQualityScoresRequired()
      Indicates whether this calibrator requires quality scores for each measurement or not.
      Specified by:
      isQualityScoresRequired in interface MagnetometerCalibrator
      Returns:
      true if quality scores are required, false otherwise.

    • isCommonAxisUsed

      public boolean isCommonAxisUsed()
      Indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer. When enabled, this eliminates 3 variables from Mm (soft-iron) matrix.
      Specified by:
      isCommonAxisUsed in interface MagnetometerCalibrator
      Returns:
      true if z-axis is assumed to be common for accelerometer, gyroscope and magnetometer, false otherwise.

    • setCommonAxisUsed

      public void setCommonAxisUsed(boolean commonAxisUsed) throws com.irurueta.navigation.LockedException
      Specifies whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Mm matrix.
      Specified by:
      setCommonAxisUsed in interface MagnetometerCalibrator
      Parameters:
      commonAxisUsed - true if z-axis is assumed to be common for accelerometer, gyroscope and magnetometer, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is currently running.

    • getListener

      public KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener getListener()
      Gets listener to handle events raised by this calibrator.
      Specified by:
      getListener in interface KnownHardIronAndFrameMagnetometerCalibrator<FrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener>
      Returns:
      listener to handle events raised by this calibrator.

    • setListener

      public void setListener(KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener listener) throws com.irurueta.navigation.LockedException
      Sets listener to handle events raised by this calibrator.
      Specified by:
      setListener in interface KnownHardIronAndFrameMagnetometerCalibrator<FrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener>
      Parameters:
      listener - listener to handle events raised by this calibrator.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is currently running.

    • getMinimumRequiredMeasurements

      public int getMinimumRequiredMeasurements()
      Gets minimum number of required measurements.
      Specified by:
      getMinimumRequiredMeasurements in interface MagnetometerCalibrator
      Returns:
      minimum number of required measurements.

    • isReady

      public boolean isReady()
      Indicates whether calibrator is ready to start the estimator.
      Specified by:
      isReady in interface MagnetometerCalibrator
      Returns:
      true if calibrator is ready, false otherwise.

    • isRunning

      public boolean isRunning()
      Indicates whether calibrator is currently running or no.
      Specified by:
      isRunning in interface MagnetometerCalibrator
      Returns:
      true if calibrator is running, false otherwise.

    • getMagneticModel

      public WorldMagneticModel getMagneticModel()
      Gets Earth's magnetic model.
      Returns:
      Earth's magnetic model or null if not provided.

    • setMagneticModel

      public void setMagneticModel(WorldMagneticModel magneticModel) throws com.irurueta.navigation.LockedException
      Sets Earth's magnetic model. If not provided a default model will be loaded internally.
      Parameters:
      magneticModel - Earth's magnetic model to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIron

      public double[] getHardIron()
      Gets known hard-iron bias as an array. Array values are expressed in Teslas (T).
      Specified by:
      getHardIron in interface KnownHardIronMagnetometerCalibrator
      Returns:
      array containing coordinates of initial bias.

    • getHardIron

      public void getHardIron(double[] result)
      Gets known hard-iron bias as an array. Array values are expressed in Teslas (T).
      Specified by:
      getHardIron in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setHardIron

      public void setHardIron(double[] hardIron) throws com.irurueta.navigation.LockedException
      Sets known hard-iron bias as an array. Array values are expressed in Teslas (T).
      Specified by:
      setHardIron in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIron - known hard-iron bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getHardIronMatrix

      public com.irurueta.algebra.Matrix getHardIronMatrix()
      Gets known hard-iron bias as a column matrix.
      Specified by:
      getHardIronMatrix in interface KnownHardIronMagnetometerCalibrator
      Returns:
      hard-iron bias as a column matrix.

    • getHardIronMatrix

      public void getHardIronMatrix(com.irurueta.algebra.Matrix result)
      Gets known hard-iron bias as a column matrix.
      Specified by:
      getHardIronMatrix in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • setHardIron

      public void setHardIron(com.irurueta.algebra.Matrix hardIron) throws com.irurueta.navigation.LockedException
      Sets known hard-iron bias.
      Specified by:
      setHardIron in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIron - magnetometer hard-iron bias to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x1.

    • calibrate

      public void calibrate() throws com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException
      Estimates magnetometer calibration parameters containing scale factors and cross-coupling errors.
      Specified by:
      calibrate in interface MagnetometerCalibrator
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      com.irurueta.navigation.NotReadyException - if calibrator is not ready.
      CalibrationException - if calibration fails for numerical reasons.

    • getEstimatedMm

      public com.irurueta.algebra.Matrix getEstimatedMm()
      Gets estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors. This is the product of matrix Tm containing cross coupling errors and Km containing scaling factors. So tat: 
           Mm = [sx    mxy  mxz] = Tm*Km
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Km = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Tm = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix becomes upper diagonal: 
           Mm = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.
      Specified by:
      getEstimatedMm in interface MagnetometerCalibrator
      Returns:
      estimated magnetometer soft-iron scale factors and cross coupling errors, or null if not available.

    • getEstimatedSx

      public Double getEstimatedSx()
      Gets estimated x-axis scale factor.
      Specified by:
      getEstimatedSx in interface MagnetometerCalibrator
      Returns:
      estimated x-axis scale factor or null if not available.

    • getEstimatedSy

      public Double getEstimatedSy()
      Gets estimated y-axis scale factor.
      Specified by:
      getEstimatedSy in interface MagnetometerCalibrator
      Returns:
      estimated y-axis scale factor or null if not available.

    • getEstimatedSz

      public Double getEstimatedSz()
      Gets estimated z-axis scale factor.
      Specified by:
      getEstimatedSz in interface MagnetometerCalibrator
      Returns:
      estimated z-axis scale factor or null if not available.

    • getEstimatedMxy

      public Double getEstimatedMxy()
      Gets estimated x-y cross-coupling error.
      Specified by:
      getEstimatedMxy in interface MagnetometerCalibrator
      Returns:
      estimated x-y cross-coupling error or null if not available.

    • getEstimatedMxz

      public Double getEstimatedMxz()
      Gets estimated x-z cross-coupling error.
      Specified by:
      getEstimatedMxz in interface MagnetometerCalibrator
      Returns:
      estimated x-z cross-coupling error or null if not available.

    • getEstimatedMyx

      public Double getEstimatedMyx()
      Gets estimated y-x cross-coupling error.
      Specified by:
      getEstimatedMyx in interface MagnetometerCalibrator
      Returns:
      estimated y-x cross-coupling error or null if not available.

    • getEstimatedMyz

      public Double getEstimatedMyz()
      Gets estimated y-z cross-coupling error.
      Specified by:
      getEstimatedMyz in interface MagnetometerCalibrator
      Returns:
      estimated y-z cross-coupling error or null if not available.

    • getEstimatedMzx

      public Double getEstimatedMzx()
      Gets estimated z-x cross-coupling error.
      Specified by:
      getEstimatedMzx in interface MagnetometerCalibrator
      Returns:
      estimated z-x cross-coupling error or null if not available.

    • getEstimatedMzy

      public Double getEstimatedMzy()
      Gets estimated z-y cross-coupling error.
      Specified by:
      getEstimatedMzy in interface MagnetometerCalibrator
      Returns:
      estimated z-y cross-coupling error or null if not available.

    • calibrateCommonAxis

      private void calibrateCommonAxis() throws com.irurueta.algebra.AlgebraException, IOException
      Internal method to perform calibration when common z-axis is assumed for the accelerometer, gyroscope and magnetometer.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical errors.
      IOException - if world magnetic model cannot be loaded.

    • calibrateGeneral

      private void calibrateGeneral() throws com.irurueta.algebra.AlgebraException, IOException
      Internal method to perform general calibration.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical errors.
      IOException - if world magnetic model cannot be loaded.

    • fillMm

      private void fillMm(double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy) throws com.irurueta.algebra.WrongSizeException
      Fills scale factor and cross coupling error matrix with estimated values.
      Parameters:
      sx - x scale factor
      sy - y scale factor
      sz - z scale factor
      mxy - x-y cross coupling
      mxz - x-z cross coupling
      myx - y-x cross coupling
      myz - y-z cross coupling
      mzx - z-x cross coupling
      mzy - z-y cross coupling
      Throws:
      com.irurueta.algebra.WrongSizeException - never happens.

    • convertMagneticFluxDensity

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

    • convertMagneticFluxDensity

      private static double convertMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity magneticFluxDensity)
      Converts magnetic flux density instance to Teslas.
      Parameters:
      magneticFluxDensity - magnetic flux density instance to be converted.
      Returns:
      converted value.