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

Class RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownPositionAndInstantMagnetometerCalibrator
com.irurueta.navigation.inertial.calibration.magnetometer.RANSACRobustKnownPositionAndInstantMagnetometerCalibrator
All Implemented Interfaces:
MagnetometerCalibrator, MagnetometerNonLinearCalibrator, OrderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator, QualityScoredMagnetometerCalibrator, UnknownHardIronMagnetometerCalibrator, UnknownHardIronNonLinearMagnetometerCalibrator
public class RANSACRobustKnownPositionAndInstantMagnetometerCalibrator extends RobustKnownPositionAndInstantMagnetometerCalibrator
Robustly estimates magnetometer hard-iron biases, cross couplings and scaling factors using RANSAC algorithm.

To use this calibrator at least 10 measurements taken at a single known position and instant must be taken at 10 different unknown orientations and zero velocity when common z-axis is assumed, otherwise at least 13 measurements are required.

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

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

  • Field Details

    • DEFAULT_THRESHOLD

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

    • MIN_THRESHOLD

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

    • 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:

    • 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:

    • 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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator()
      Constructor.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(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.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(WorldMagneticModel magneticModel)
      Constructor.
      Parameters:
      magneticModel - Earth's magnetic model. If null, a default model will be used instead.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position)
      Constructor.
      Parameters:
      position - position where body magnetic flux density measurements have been taken.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(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.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(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.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, 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.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, 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.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position)
      Constructor.
      Parameters:
      position - position where body magnetic flux density measurements have been taken.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(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.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(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.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron)
      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.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

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

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, 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.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, 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.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RANSACRobustKnownPositionAndInstantMagnetometerCalibrator

      public RANSACRobustKnownPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownPositionAndInstantMagnetometerCalibratorListener 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.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

  • 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 RobustKnownPositionAndInstantMagnetometerCalibrator
      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.