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

Class KnownMagneticFluxDensityNormMagnetometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.magnetometer.BaseMagneticFluxDensityNormMagnetometerCalibrator<KnownMagneticFluxDensityNormMagnetometerCalibrator,KnownMagneticFluxDensityNormMagnetometerCalibratorListener>
com.irurueta.navigation.inertial.calibration.magnetometer.KnownMagneticFluxDensityNormMagnetometerCalibrator
All Implemented Interfaces:
MagnetometerCalibrator, MagnetometerNonLinearCalibrator, UnknownHardIronMagnetometerCalibrator, UnknownHardIronNonLinearMagnetometerCalibrator, UnorderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator
public class KnownMagneticFluxDensityNormMagnetometerCalibrator extends BaseMagneticFluxDensityNormMagnetometerCalibrator<KnownMagneticFluxDensityNormMagnetometerCalibrator,KnownMagneticFluxDensityNormMagnetometerCalibratorListener>
Estimates magnetometer hard-iron biases, cross couplings and scaling factors. This calibrator uses Levenberg-Marquardt to find a minimum least squared error solution.

To use this calibrator at least 10 measurements with known magnetic field norm at an unknown position and instant must be taken at 10 different unknown orientations when common z-axis is assumed, otherwise at least 13 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.

  • Constructor Details

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator()
      Constructor.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

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

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

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

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(double[] initialHardIron)
      Constructor.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(com.irurueta.algebra.Matrix initialHardIron)
      Constructor.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, 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.
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, 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.
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, double[] initialHardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, 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.
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, 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.
      initialHardIron - initial hard-iron to find a solution.
      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.

    • KnownMagneticFluxDensityNormMagnetometerCalibrator

      public KnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, KnownMagneticFluxDensityNormMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      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 BaseMagneticFluxDensityNormMagnetometerCalibrator<KnownMagneticFluxDensityNormMagnetometerCalibrator,KnownMagneticFluxDensityNormMagnetometerCalibratorListener>
      Returns:
      true if calibrator is ready, false otherwise.