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

Class MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator
com.irurueta.navigation.inertial.calibration.magnetometer.MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator
All Implemented Interfaces:
KnownHardIronMagnetometerCalibrator, MagnetometerCalibrator, MagnetometerNonLinearCalibrator, OrderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator, QualityScoredMagnetometerCalibrator
public class MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator extends RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator
Robustly estimates magnetometer cross couplings and scaling factors using MSAC 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.

  • Field Details

    • DEFAULT_THRESHOLD

      public static final double DEFAULT_THRESHOLD
      Constant defining default threshold to determine whether samples are inliers or not.
      See Also:

    • MIN_THRESHOLD

      public static final double MIN_THRESHOLD
      Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.
      See Also:

    • threshold

      private double threshold
      Threshold to determine whether samples are inliers or not when testing possible estimation solutions.

  • Constructor Details

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator()
      Constructor.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

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

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

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

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

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

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

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

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

    • MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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

    • getThreshold

      public double getThreshold()
      Gets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on norm between measured specific forces and the ones generated with estimated calibration parameters provided for each sample.
      Returns:
      threshold to determine whether samples are inliers or not.

    • setThreshold

      public void setThreshold(double threshold) throws com.irurueta.navigation.LockedException
      Sets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on norm between measured specific forces and the ones generated with estimated calibration parameters provided for each sample.
      Parameters:
      threshold - threshold to determine whether samples are inliers or not.
      Throws:
      IllegalArgumentException - if provided value is equal or less than zero.
      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.