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

Class KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.magnetometer.KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator
All Implemented Interfaces:
KnownHardIronAndFrameMagnetometerCalibrator<StandardDeviationFrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener>, KnownHardIronMagnetometerCalibrator, MagnetometerCalibrator, MagnetometerNonLinearCalibrator, UnorderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator
public class KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator extends Object implements KnownHardIronAndFrameMagnetometerCalibrator<StandardDeviationFrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener>, MagnetometerNonLinearCalibrator, UnorderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator
Estimates magnetometer soft-iron cross couplings and scaling factors.

This calibrator uses an iterative 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:

    • 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:

    • fitter

      private final com.irurueta.numerical.fitting.LevenbergMarquardtMultiVariateFitter fitter
      Levenberg-Marquardt fitter to find a non-linear solution.

    • 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).

    • initialSx

      private double initialSx
      Initial x scaling factor.

    • initialSy

      private double initialSy
      Initial y scaling factor.

    • initialSz

      private double initialSz
      Initial z scaling factor.

    • initialMxy

      private double initialMxy
      Initial x-y cross coupling error.

    • initialMxz

      private double initialMxz
      Initial x-z cross coupling error.

    • initialMyx

      private double initialMyx
      Initial y-x cross coupling error.

    • initialMyz

      private double initialMyz
      Initial y-z cross coupling error.

    • initialMzx

      private double initialMzx
      Initial z-x cross coupling error.

    • initialMzy

      private double initialMzy
      Initial z-y cross coupling error.

    • measurements

      private Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements
      Contains a collection of body magnetic flux density measurements taken at different frames (positions and orientations) and containing the standard deviation of magnetometer measurements. 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 KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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.

    • estimatedCovariance

      private com.irurueta.algebra.Matrix estimatedCovariance
      Estimated covariance matrix for estimated parameters.

    • estimatedChiSq

      private double estimatedChiSq
      Estimated chi square value.

    • estimatedMse

      private double estimatedMse
      Estimated mean square error respect to provided measurements.

    • running

      private boolean running
      Indicates whether calibrator is running.

    • magneticModel

      private WorldMagneticModel magneticModel
      Contains Earth's magnetic model.

  • Constructor Details

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator()
      Constructor.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(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).

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, double hardIronX, double hardIronY, double hardIronZ)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(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).

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(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).

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(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).

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz)
      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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz)
      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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz)
      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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz)
      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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double hardIronX, double hardIronY, double hardIronZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(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.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double[] hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, double[] hardIron, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(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.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, double[] hardIron, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double[] hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, double[] hardIron, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(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.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(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.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

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

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(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.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      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.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener 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.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator

      public KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, WorldMagneticModel magneticModel, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviations 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.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

  • 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.

    • getInitialSx

      public double getInitialSx()
      Gets initial x scaling factor.
      Specified by:
      getInitialSx in interface MagnetometerNonLinearCalibrator
      Returns:
      initial x scaling factor.

    • setInitialSx

      public void setInitialSx(double initialSx) throws com.irurueta.navigation.LockedException
      Sets initial x scaling factor.
      Specified by:
      setInitialSx in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSy

      public double getInitialSy()
      Gets initial y scaling factor.
      Specified by:
      getInitialSy in interface MagnetometerNonLinearCalibrator
      Returns:
      initial y scaling factor.

    • setInitialSy

      public void setInitialSy(double initialSy) throws com.irurueta.navigation.LockedException
      Sets initial y scaling factor.
      Specified by:
      setInitialSy in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialSy - initial y scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSz

      public double getInitialSz()
      Gets initial z scaling factor.
      Specified by:
      getInitialSz in interface MagnetometerNonLinearCalibrator
      Returns:
      initial z scaling factor.

    • setInitialSz

      public void setInitialSz(double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial z scaling factor.
      Specified by:
      setInitialSz in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialSz - initial z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxy

      public double getInitialMxy()
      Gets initial x-y cross coupling error.
      Specified by:
      getInitialMxy in interface MagnetometerNonLinearCalibrator
      Returns:
      initial x-y cross coupling error.

    • setInitialMxy

      public void setInitialMxy(double initialMxy) throws com.irurueta.navigation.LockedException
      Sets initial x-y cross coupling error.
      Specified by:
      setInitialMxy in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMxy - initial x-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxz

      public double getInitialMxz()
      Gets initial x-z cross coupling error.
      Specified by:
      getInitialMxz in interface MagnetometerNonLinearCalibrator
      Returns:
      initial x-z cross coupling error.

    • setInitialMxz

      public void setInitialMxz(double initialMxz) throws com.irurueta.navigation.LockedException
      Sets initial x-z cross coupling error.
      Specified by:
      setInitialMxz in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMxz - initial x-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyx

      public double getInitialMyx()
      Gets initial y-x cross coupling error.
      Specified by:
      getInitialMyx in interface MagnetometerNonLinearCalibrator
      Returns:
      initial y-x cross coupling error.

    • setInitialMyx

      public void setInitialMyx(double initialMyx) throws com.irurueta.navigation.LockedException
      Sets initial y-x cross coupling error.
      Specified by:
      setInitialMyx in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMyx - initial y-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyz

      public double getInitialMyz()
      Gets initial y-z cross coupling error.
      Specified by:
      getInitialMyz in interface MagnetometerNonLinearCalibrator
      Returns:
      initial y-z cross coupling error.

    • setInitialMyz

      public void setInitialMyz(double initialMyz) throws com.irurueta.navigation.LockedException
      Sets initial y-z cross coupling error.
      Specified by:
      setInitialMyz in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMyz - initial y-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzx

      public double getInitialMzx()
      Gets initial z-x cross coupling error.
      Specified by:
      getInitialMzx in interface MagnetometerNonLinearCalibrator
      Returns:
      initial z-x cross coupling error.

    • setInitialMzx

      public void setInitialMzx(double initialMzx) throws com.irurueta.navigation.LockedException
      Sets initial z-x cross coupling error.
      Specified by:
      setInitialMzx in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMzx - initial z-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzy

      public double getInitialMzy()
      Gets initial z-y cross coupling error.
      Specified by:
      getInitialMzy in interface MagnetometerNonLinearCalibrator
      Returns:
      initial z-y cross coupling error.

    • setInitialMzy

      public void setInitialMzy(double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial z-y cross coupling error.
      Specified by:
      setInitialMzy in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMzy - initial z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialScalingFactors

      public void setInitialScalingFactors(double initialSx, double initialSy, double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial scaling factors.
      Specified by:
      setInitialScalingFactors in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialCrossCouplingErrors

      public void setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial cross coupling errors.
      Specified by:
      setInitialCrossCouplingErrors in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialScalingFactorsAndCrossCouplingErrors

      public void setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial scaling factors and cross coupling errors.
      Specified by:
      setInitialScalingFactorsAndCrossCouplingErrors in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      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.

    • getInitialMm

      public com.irurueta.algebra.Matrix getInitialMm()
      Gets initial scale factors and cross coupling errors matrix.
      Specified by:
      getInitialMm in interface MagnetometerNonLinearCalibrator
      Returns:
      initial scale factors and cross coupling errors matrix.

    • getInitialMm

      public void getInitialMm(com.irurueta.algebra.Matrix result)
      Gets initial scale factors and cross coupling errors matrix.
      Specified by:
      getInitialMm in interface MagnetometerNonLinearCalibrator
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • setInitialMm

      public void setInitialMm(com.irurueta.algebra.Matrix initialMm) throws com.irurueta.navigation.LockedException
      Sets initial scale factors and cross coupling errors matrix.
      Specified by:
      setInitialMm in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMm - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurements

      public Collection<StandardDeviationFrameBodyMagneticFluxDensity> 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<StandardDeviationFrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener>
      Specified by:
      getMeasurements in interface UnorderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator
      Returns:
      a collection of body magnetic flux density measurements taken at different frames (positions, orientations and velocities).

    • setMeasurements

      public void setMeasurements(Collection<? extends StandardDeviationFrameBodyMagneticFluxDensity> 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<StandardDeviationFrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener>
      Specified by:
      setMeasurements in interface UnorderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator
      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 KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener getListener()
      Gets listener to handle events raised by this calibrator.
      Specified by:
      getListener in interface KnownHardIronAndFrameMagnetometerCalibrator<StandardDeviationFrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener>
      Returns:
      listener to handle events raised by this calibrator.

    • setListener

      public void setListener(KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener listener) throws com.irurueta.navigation.LockedException
      Sets listener to handle events raised by this calibrator.
      Specified by:
      setListener in interface KnownHardIronAndFrameMagnetometerCalibrator<StandardDeviationFrameBodyMagneticFluxDensity,KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibratorListener>
      Parameters:
      listener - listener to handle events raised by this calibrator.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator 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.
      Parameters:
      magneticModel - Earth's magnetic model to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • 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.

    • getEstimatedCovariance

      public com.irurueta.algebra.Matrix getEstimatedCovariance()
      Gets estimated covariance matrix for estimated calibration parameters. Diagonal elements of the matrix contains variance for the following parameters (following indicated order): sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy.
      Specified by:
      getEstimatedCovariance in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated covariance matrix for estimated position.

    • getEstimatedChiSq

      public double getEstimatedChiSq()
      Gets estimated chi square value.
      Specified by:
      getEstimatedChiSq in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated chi square value.

    • getEstimatedMse

      public double getEstimatedMse()
      Gets estimated mean square error respect to provided measurements.
      Specified by:
      getEstimatedMse in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated mean square error respect to provided measurements.

    • calibrateCommonAxis

      private void calibrateCommonAxis() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException, IOException
      Internal method to perform calibration when common z-axis is assumed for both the accelerometer and gyroscope.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical errors.
      com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.
      com.irurueta.numerical.NotReadyException - if fitter is not ready.
      IOException - if world magnetic model cannot be loaded.

    • calibrateGeneral

      private void calibrateGeneral() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException, IOException
      Internal method to perform general calibration.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical errors.
      com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.
      com.irurueta.numerical.NotReadyException - if fitter is not ready.
      IOException - if world magnetic model cannot be loaded.

    • setInputData

      private void setInputData() throws com.irurueta.algebra.WrongSizeException, IOException
      Sets input data into Levenberg-Marquardt fitter.
      Throws:
      com.irurueta.algebra.WrongSizeException - never happens.
      IOException - if world magnetic model cannot be loaded.

    • 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.