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

Class MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownHardIronPositionAndInstantMagnetometerCalibrator

com.irurueta.navigation.inertial.calibration.magnetometer.MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

All Implemented Interfaces:

KnownHardIronMagnetometerCalibrator, MagnetometerCalibrator, MagnetometerNonLinearCalibrator, OrderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator, QualityScoredMagnetometerCalibrator

public class MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator
extends RobustKnownHardIronPositionAndInstantMagnetometerCalibrator

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

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

Measured magnetic flux density is assumed to follow the model shown below:

     mBmeas = bm + (I + Mm) * mBtrue + w
 

Where: - mBmeas is the measured magnetic flux density. This is a 3x1 vector. - bm is magnetometer hard-iron bias. Ideally, on a perfect magnetometer, this should be a 3x1 zero vector. - I is the 3x3 identity matrix. - Mm is the 3x3 soft-iron matrix containing cross-couplings and scaling factors. Ideally, on a perfect magnetometer, this should be a 3x3 zero matrix. - mBtrue is ground-truth magnetic flux density. This is a 3x1 vector. - w is measurement noise. This is a 3x1 vector. Notice that this calibrator assumes that all measurements are taken in a short span of time, where Earth magnetic field can be assumed to be constant at provided location and instant.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether samples are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double	threshold	Threshold to determine whether samples are inliers or not when testing possible estimation solutions.

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

confidence, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_RESULT, DEFAULT_ROBUST_METHOD, DEFAULT_USE_COMMON_Z_AXIS, identity, inliersData, listener, magneticDensityNorm, 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
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator()	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(boolean commonAxisUsed)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(double[] hardIron)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.algebra.Matrix hardIron)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(WorldMagneticModel magneticModel)	Constructor.
MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	calibrate()	Estimates magnetometer calibration parameters containing soft-iron scale factors and cross-coupling errors.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double	getThreshold()	Returns threshold to determine whether samples are inliers or not.
boolean	isQualityScoresRequired()	Indicates whether this calibrator requires quality scores for each measurement or not.
void	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not.

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

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, getConfidence, getEcefPosition, getEcefPosition, 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, getMagneticModel, getMaxIterations, getMeasurements, getMeasurementType, getMinimumRequiredMeasurements, getNedPosition, getPreliminarySubsetSize, getProgressDelta, getQualityScores, getYear, initialize, isCommonAxisUsed, isCovarianceKept, isOrderedMeasurementsRequired, isReady, isResultRefined, isRunning, setCommonAxisUsed, setConfidence, setCovarianceKept, 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, setMagneticModel, setMaxIterations, setMeasurements, setPosition, setPosition, setPreliminarySubsetSize, setProgressDelta, setQualityScores, setResultRefined, setTime, setTime, setTime, setYear

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_THRESHOLD

public static final double DEFAULT_THRESHOLD

Constant defining default threshold to determine whether samples are inliers or not.

See Also:

• Constant Field Values

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:

• Constant Field Values

threshold

private double threshold

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

Constructor Details

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator()

Constructor.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this calibrator.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

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

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(WorldMagneticModel magneticModel)

Constructor.

Parameters:

magneticModel - Earth's magnetic model. If null, a default model will be used instead.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(double[] hardIron)

Constructor.

Parameters:

hardIron - known hard-iron.

Throws:

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

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

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

Constructor.

Parameters:

hardIron - known hard-iron.

Throws:

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

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 double[] hardIron)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 double[] hardIron,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 double[] hardIron)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 double[] hardIron,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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

hardIron - known hard-iron.

listener - listener to handle events raised by this calibrator.

Throws:

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

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 double[] hardIron)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 double[] hardIron,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 double[] hardIron)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 double[] hardIron,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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

hardIron - known hard-iron.

listener - listener to handle events raised by this calibrator.

Throws:

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

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator

public MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 List<StandardDeviationBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix initialMm,
 RobustKnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)

Constructor.

Parameters:

position - position where body magnetic flux density measurements have been taken.

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.

Method Details

getThreshold

public double getThreshold()

Returns threshold to determine whether samples are inliers or not.

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.

Parameters:

threshold - threshold to be set.

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 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 RobustKnownHardIronPositionAndInstantMagnetometerCalibrator

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.