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

Class LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

com.irurueta.navigation.inertial.calibration.magnetometer.LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

All Implemented Interfaces:

KnownHardIronMagnetometerCalibrator, MagnetometerCalibrator, MagnetometerNonLinearCalibrator, OrderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator, QualityScoredMagnetometerCalibrator

public class LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator
extends RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

Robustly estimates magnetometer cross couplings and scaling factors using LMedS algorithm.

To use this calibrator at least 7 measurements with known magnetic field norm at an unknown position and instant must be taken at 7 different unknown orientations 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.

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator.PreliminaryResult

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_STOP_THRESHOLD	Default value to be used for stop threshold.
static final double	MIN_STOP_THRESHOLD	Minimum allowed stop threshold value.
private double	stopThreshold	Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.

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

confidence, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_RESULT, DEFAULT_ROBUST_METHOD, DEFAULT_USE_COMMON_Z_AXIS, groundTruthMagneticFluxDensityNorm, identity, inliersData, listener, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, measurements, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, MINIMUM_MEASUREMENTS_COMMON_Z_AXIS, MINIMUM_MEASUREMENTS_GENERAL, preliminarySubsetSize, progressDelta, refineResult, running, tmp1, tmp2, tmp3, tmp4

Constructor Summary

Constructors

Constructor	Description
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator()	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(boolean commonAxisUsed)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(double[] hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(com.irurueta.algebra.Matrix hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, double[] hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	calibrate()	Estimates magnetometer calibration parameters containing hard-iron bias and soft-iron scale factors and cross-coupling errors.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double	getStopThreshold()	Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.
boolean	isQualityScoresRequired()	Indicates whether this calibrator requires quality scores for each measurement or not.
void	setStopThreshold(double stopThreshold)	Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.

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

attemptRefine, computeError, computePreliminarySolutions, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getConfidence, 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, getInliersData, getListener, getMaxIterations, getMeasurements, getMeasurementType, getMinimumRequiredMeasurements, getPreliminarySubsetSize, getProgressDelta, getQualityScores, isCommonAxisUsed, isCovarianceKept, isOrderedMeasurementsRequired, isReady, isResultRefined, isRunning, setCommonAxisUsed, setConfidence, setCovarianceKept, setGroundTruthMagneticFluxDensityNorm, setGroundTruthMagneticFluxDensityNorm, 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, setMaxIterations, setMeasurements, setPreliminarySubsetSize, setProgressDelta, setQualityScores, setResultRefined

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_STOP_THRESHOLD

public static final double DEFAULT_STOP_THRESHOLD

Default value to be used for stop threshold. Stop threshold can be used to avoid keeping the algorithm unnecessarily iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in LMedS, and yet the algorithm could still produce even smaller thresholds in estimated results.

See Also:

• Constant Field Values

MIN_STOP_THRESHOLD

public static final double MIN_STOP_THRESHOLD

Minimum allowed stop threshold value.

See Also:

• Constant Field Values

stopThreshold

private double stopThreshold

Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in LMedS, and yet the algorithm could still produce even smaller thresholds in estimated results.

Constructor Details

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator()

Constructor.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements)

Constructor.

Parameters:

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

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

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

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(double[] hardIron)

Constructor.

Parameters:

hardIron - known hard-iron.

Throws:

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

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

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

Constructor.

Parameters:

hardIron - known hard-iron.

Throws:

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

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements,
 double[] hardIron,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 double[] hardIron,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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 to find a solution.

listener - listener to handle events raised by this calibrator.

Throws:

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

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 double[] hardIron)

Constructor.

Parameters:

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

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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 com.irurueta.algebra.Matrix hardIron)

Constructor.

Parameters:

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

hardIron - known hard-iron.

Throws:

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

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm)

Constructor.

Parameters:

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

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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 double[] hardIron,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 double[] hardIron,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<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.

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener 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

getStopThreshold

public double getStopThreshold()

Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Returns:

stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

setStopThreshold

public void setStopThreshold(double stopThreshold)
                      throws com.irurueta.navigation.LockedException

Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Parameters:

stopThreshold - stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

Throws:

IllegalArgumentException - if provided value is zero or negative.

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 hard-iron bias and soft-iron scale factors and cross-coupling errors.

Throws:

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

com.irurueta.navigation.NotReadyException - if calibrator is not ready.

CalibrationException - if estimation fails for numerical reasons.

getMethod

public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()

Returns method being used for robust estimation.

Specified by:

getMethod in class RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

Returns:

method being used for robust estimation.

isQualityScoresRequired

public boolean isQualityScoresRequired()

Indicates whether this calibrator requires quality scores for each measurement or not.

Returns:

true if quality scores are required, false otherwise.