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

Class KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.magnetometer.BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator,KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener>

com.irurueta.navigation.inertial.calibration.magnetometer.KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

All Implemented Interfaces:

KnownHardIronMagnetometerCalibrator, MagnetometerCalibrator, MagnetometerNonLinearCalibrator, UnorderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator

public class KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator
extends BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator,KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener>

Estimates magnetometer cross couplings and scaling factors. This calibrator uses Levenberg-Marquardt to find a minimum least squared error solution.

To use this calibrator at least 7 measurements taken at a single unknown position and instant must be taken at 7 different unknown orientations and zero velocity when common z-axis is assumed, otherwise at least 10 measurements are required.

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. Notice that this calibrator assumes that all measurements are taken in a short span of time, where Earth magnetic field can be assumed to be constant at provided location and instant.

Field Summary

Fields inherited from class com.irurueta.navigation.inertial.calibration.magnetometer.BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

DEFAULT_USE_COMMON_Z_AXIS, groundTruthMagneticFluxDensityNorm, MINIMUM_MEASUREMENTS_COMMON_Z_AXIS, MINIMUM_MEASUREMENTS_GENERAL

Constructor Summary

Constructors

Modifier	Constructor	Description
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator()	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(boolean commonAxisUsed)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(double[] hardIron)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(com.irurueta.algebra.Matrix hardIron)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
protected	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)	Constructor.
protected	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
protected	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
protected	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron)	Constructor.
protected	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
protected	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
	KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
boolean	isReady()	Indicates whether calibrator is ready to start.
void	setGroundTruthMagneticFluxDensityNorm(com.irurueta.units.MagneticFluxDensity groundTruthMagneticFluxDensityNorm)	Sets ground truth magnetic flux density norm to be expected at location where measurements have been made.
void	setGroundTruthMagneticFluxDensityNorm(Double groundTruthMagneticFluxDensityNorm)	Sets ground truth magnetic flux density norm to be expected at location where measurements have been made, expressed in Teslas (T).

Methods inherited from class com.irurueta.navigation.inertial.calibration.magnetometer.BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

calibrate, getEstimatedChiSq, getEstimatedCovariance, getEstimatedMm, getEstimatedMse, getEstimatedMxy, getEstimatedMxz, getEstimatedMyx, getEstimatedMyz, getEstimatedMzx, getEstimatedMzy, getEstimatedSx, getEstimatedSy, getEstimatedSz, getGroundTruthMagneticFluxDensityNorm, getGroundTruthMagneticFluxDensityNormAsMagneticFluxDensity, getGroundTruthMagneticFluxDensityNormAsMagneticFluxDensity, getHardIron, getHardIron, getHardIronAsTriad, getHardIronAsTriad, getHardIronMatrix, getHardIronMatrix, getHardIronX, getHardIronXAsMagneticFluxDensity, getHardIronXAsMagneticFluxDensity, getHardIronY, getHardIronYAsMagneticFluxDensity, getHardIronYAsMagneticFluxDensity, getHardIronZ, getHardIronZAsMagneticFluxDensity, getHardIronZAsMagneticFluxDensity, getInitialMm, getInitialMm, getInitialMxy, getInitialMxz, getInitialMyx, getInitialMyz, getInitialMzx, getInitialMzy, getInitialSx, getInitialSy, getInitialSz, getListener, getMeasurements, getMeasurementType, getMinimumRequiredMeasurements, internalSetGroundTruthMagneticFluxDensityNorm, isCommonAxisUsed, isOrderedMeasurementsRequired, isQualityScoresRequired, isRunning, onBeforeCalibrate, setCommonAxisUsed, setHardIron, setHardIron, setHardIron, setHardIronCoordinates, setHardIronCoordinates, setHardIronX, setHardIronX, setHardIronY, setHardIronY, setHardIronZ, setHardIronZ, setInitialCrossCouplingErrors, setInitialMm, setInitialMxy, setInitialMxz, setInitialMyx, setInitialMyz, setInitialMzx, setInitialMzy, setInitialScalingFactors, setInitialScalingFactorsAndCrossCouplingErrors, setInitialSx, setInitialSy, setInitialSz, setListener, setMeasurements

Methods inherited from class java.lang.Object

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

Constructor Details

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator()

Constructor.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this calibrator.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

listener - listener to handle events raised by this calibrator.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(double[] hardIron)

Constructor.

Parameters:

hardIron - known hard-iron.

Throws:

IllegalArgumentException - if provided hard-iron array does not have length 3.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 double[] hardIron)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

hardIron - known hard-iron.

Throws:

IllegalArgumentException - if provided hard-iron array does not have length 3.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 double[] hardIron,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 double[] hardIron)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 double[] hardIron,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(com.irurueta.algebra.Matrix hardIron)

Constructor.

Parameters:

hardIron - known hard-iron.

Throws:

IllegalArgumentException - if provided hard-iron matrix is not 3x1.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

hardIron - known hard-iron.

Throws:

IllegalArgumentException - if provided hard-iron matrix is not 3x1.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

hardIron - known hard-iron.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided hard-iron matrix is not 3x1.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> 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 deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

Throws:

IllegalArgumentException - if provided magnetic flux norm value is negative.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided magnetic flux norm value is negative.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

Throws:

IllegalArgumentException - if provided magnetic flux norm value is negative.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided magnetic flux norm value is negative.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.

Throws:

IllegalArgumentException - if provided magnetic flux norm value is negative.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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.

Throws:

IllegalArgumentException - if provided magnetic flux norm value is negative.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 double[] hardIron)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

hardIron - known hard-iron.

Throws:

IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 double[] hardIron,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

hardIron - known hard-iron.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 double[] hardIron)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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 magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 double[] hardIron,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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 magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

hardIron - known hard-iron.

Throws:

IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

hardIron - known hard-iron.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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 magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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 magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

hardIron - known hard-iron.

initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.

Throws:

IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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 magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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 magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

protected KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).

measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different 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 magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

Method Details

setGroundTruthMagneticFluxDensityNorm

public void setGroundTruthMagneticFluxDensityNorm(Double groundTruthMagneticFluxDensityNorm)
                                           throws com.irurueta.navigation.LockedException

Sets ground truth magnetic flux density norm to be expected at location where measurements have been made, expressed in Teslas (T).

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm or null if undefined.

Throws:

IllegalArgumentException - if provided value is negative.

com.irurueta.navigation.LockedException - if calibrator is currently running.

setGroundTruthMagneticFluxDensityNorm

public void setGroundTruthMagneticFluxDensityNorm(com.irurueta.units.MagneticFluxDensity groundTruthMagneticFluxDensityNorm)
                                           throws com.irurueta.navigation.LockedException

Sets ground truth magnetic flux density norm to be expected at location where measurements have been made.

Parameters:

groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm or null if undefined.

Throws:

IllegalArgumentException - if provided value is negative.

com.irurueta.navigation.LockedException - if calibrator is currently running.

isReady

public boolean isReady()

Indicates whether calibrator is ready to start.

Specified by:

isReady in interface MagnetometerCalibrator

Overrides:

isReady in class BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator,KnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener>

Returns:

true if calibrator is ready, false otherwise.