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

Class RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

java.lang.Object

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

com.irurueta.navigation.inertial.calibration.magnetometer.RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

All Implemented Interfaces:

KnownHardIronMagnetometerCalibrator, MagnetometerCalibrator, MagnetometerNonLinearCalibrator, OrderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator, QualityScoredMagnetometerCalibrator

public class RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator
extends RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

Robustly estimates magnetometer cross couplings and scaling factors using RANSAC 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
private boolean	computeAndKeepInliers	Indicates whether inliers must be computed and kept.
private boolean	computeAndKeepResiduals	Indicates whether residuals must be computed and kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_INLIERS	Indicates that by default inliers will only be computed but not kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_RESIDUALS	Indicates that by default residuals will only be computed but not kept.
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 solutions.

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
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator()	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(boolean commonAxisUsed)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(double[] hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(com.irurueta.algebra.Matrix hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, boolean commonAxisUsed)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, double[] hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)	Constructor.
RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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	getThreshold()	Gets threshold to determine whether samples are inliers or not when testing possible solutions.
boolean	isComputeAndKeepInliersEnabled()	Indicates whether inliers must be computed and kept.
boolean	isComputeAndKeepResiduals()	Indicates whether residuals must be computed and kept.
boolean	isQualityScoresRequired()	Indicates whether this calibrator requires quality scores for each measurement or not.
void	setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)	Specifies whether inliers must be computed and kept.
void	setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)	Specifies whether residuals must be computed and kept.
void	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not when testing possible solutions.

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_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

DEFAULT_COMPUTE_AND_KEEP_INLIERS

public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS

Indicates that by default inliers will only be computed but not kept.

See Also:

• Constant Field Values

DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

Indicates that by default residuals will only be computed but not kept.

See Also:

• Constant Field Values

threshold

private double threshold

Threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

computeAndKeepInliers

private boolean computeAndKeepInliers

Indicates whether inliers must be computed and kept.

computeAndKeepResiduals

private boolean computeAndKeepResiduals

Indicates whether residuals must be computed and kept.

Constructor Details

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator()

Constructor.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this calibrator.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

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

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(double[] hardIron)

Constructor.

Parameters:

hardIron - known hard-iron.

Throws:

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

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

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

Constructor.

Parameters:

hardIron - known hard-iron.

Throws:

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

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

public RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(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.

isComputeAndKeepInliersEnabled

public boolean isComputeAndKeepInliersEnabled()

Indicates whether inliers must be computed and kept.

Returns:

true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

setComputeAndKeepInliersEnabled

public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
                                     throws com.irurueta.navigation.LockedException

Specifies whether inliers must be computed and kept.

Parameters:

computeAndKeepInliers - true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

Throws:

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

isComputeAndKeepResiduals

public boolean isComputeAndKeepResiduals()

Indicates whether residuals must be computed and kept.

Returns:

true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

setComputeAndKeepResidualsEnabled

public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
                                       throws com.irurueta.navigation.LockedException

Specifies whether residuals must be computed and kept.

Parameters:

computeAndKeepResiduals - true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

Throws:

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.