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

Class RobustKnownFrameMagnetometerCalibrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownFrameMagnetometerCalibrator

All Implemented Interfaces:

MagnetometerCalibrator, MagnetometerNonLinearCalibrator, OrderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator, QualityScoredMagnetometerCalibrator, UnknownHardIronMagnetometerCalibrator, UnknownHardIronNonLinearMagnetometerCalibrator

Direct Known Subclasses:

LMedSRobustKnownFrameMagnetometerCalibrator, MSACRobustKnownFrameMagnetometerCalibrator, PROMedSRobustKnownFrameMagnetometerCalibrator, PROSACRobustKnownFrameMagnetometerCalibrator, RANSACRobustKnownFrameMagnetometerCalibrator

public abstract class RobustKnownFrameMagnetometerCalibrator
extends Object
implements MagnetometerNonLinearCalibrator, UnknownHardIronNonLinearMagnetometerCalibrator, OrderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator, QualityScoredMagnetometerCalibrator

This is an abstract class to robustly estimate magnetometer hard-iron biases, soft-iron cross couplings and scaling factors.

To use this calibrator at least 4 measurements at different known frames must be provided. In other words, magnetometer samples must be obtained at 4 different positions or orientations. Notice that frame velocities are ignored by this calibrator.

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.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
protected static class	RobustKnownFrameMagnetometerCalibrator.PreliminaryResult	Internal class containing estimated preliminary result.

Field Summary

Fields

Modifier and Type	Field	Description
private boolean	commonAxisUsed	This flag indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer.
protected double	confidence	Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).
static final double	DEFAULT_CONFIDENCE	Constant defining default confidence of the estimated result, which is 99%.
static final boolean	DEFAULT_KEEP_COVARIANCE	Indicates that covariance is kept by default after refining result.
static final int	DEFAULT_MAX_ITERATIONS	Default maximum allowed number of iterations.
static final float	DEFAULT_PROGRESS_DELTA	Default amount of progress variation before notifying a change in estimation progress.
static final boolean	DEFAULT_REFINE_PRELIMINARY_SOLUTIONS	Indicates that by default preliminary solutions are refined.
static final boolean	DEFAULT_REFINE_RESULT	Indicates that result is refined by default using a non-linear calibrator (which uses a Levenberg-Marquardt fitter).
static final com.irurueta.numerical.robust.RobustEstimatorMethod	DEFAULT_ROBUST_METHOD	Default robust estimator method when none is provided.
static final boolean	DEFAULT_USE_COMMON_Z_AXIS	Indicates whether by default a common z-axis is assumed for the accelerometer, gyroscope and magnetometer.
static final boolean	DEFAULT_USE_LINEAR_CALIBRATOR	Indicates that by default a linear calibrator is used for preliminary solution estimation.
private double	estimatedChiSq	Estimated chi square value.
private com.irurueta.algebra.Matrix	estimatedCovariance	Estimated covariance matrix for estimated parameters.
private double[]	estimatedHardIron	Estimated magnetometer hard-iron biases for each magnetometer axis expressed in Teslas (T).
private com.irurueta.algebra.Matrix	estimatedMm	Estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors.
private double	estimatedMse	Estimated mean square error respect to provided measurements.
private double	initialHardIronX	Initial x-coordinate of hard-iron bias to be used to find a solution.
private double	initialHardIronY	Initial y-coordinate of hard-iron bias to be used to find a solution.
private double	initialHardIronZ	Initial z-coordinate of hard-iron bias to be used to find a solution.
private double	initialMxy	Initial x-y cross coupling error.
private double	initialMxz	Initial x-z cross coupling error.
private double	initialMyx	Initial y-x cross coupling error.
private double	initialMyz	Initial y-z cross coupling error.
private double	initialMzx	Initial z-x cross coupling error.
private double	initialMzy	Initial z-y cross coupling error.
private double	initialSx	Initial x scaling factor.
private double	initialSy	Initial y scaling factor.
private double	initialSz	Initial z scaling factor.
protected com.irurueta.numerical.robust.InliersData	inliersData	Data related to inlier found after calibration.
private boolean	keepCovariance	Indicates whether covariance must be kept after refining result.
private final KnownFrameMagnetometerLinearLeastSquaresCalibrator	linearCalibrator	A linear least squares calibrator.
protected RobustKnownFrameMagnetometerCalibratorListener	listener	Listener to be notified of events such as when calibration starts, ends or its progress significantly changes.
private WorldMagneticModel	magneticModel	Contains Earth's magnetic model.
static final double	MAX_CONFIDENCE	Maximum allowed confidence value.
static final float	MAX_PROGRESS_DELTA	Maximum allowed value for progress delta.
protected int	maxIterations	Maximum allowed number of iterations.
protected List<StandardDeviationFrameBodyMagneticFluxDensity>	measurements	Contains a list of body magnetic flux density measurements taken at different frames (positions and orientations) and containing the standard deviation of magnetometer measurements.
static final double	MIN_CONFIDENCE	Minimum allowed confidence value.
static final int	MIN_ITERATIONS	Minimum allowed number of iterations.
static final float	MIN_PROGRESS_DELTA	Minimum allowed value for progress delta.
static final int	MINIMUM_MEASUREMENTS	Required minimum number of measurements.
private final KnownFrameMagnetometerNonLinearLeastSquaresCalibrator	nonLinearCalibrator	A non-linear least squares calibrator.
protected int	preliminarySubsetSize	Size of subsets to be checked during robust estimation.
protected float	progressDelta	Amount of progress variation before notifying a progress change during calibration.
private boolean	refinePreliminarySolutions	Indicates whether preliminary solutions must be refined after an initial linear solution is found.
protected boolean	refineResult	Indicates whether result must be refined using a non linear calibrator over found inliers.
protected boolean	running	Indicates whether estimator is running.
private boolean	useLinearCalibrator	Indicates whether a linear calibrator is used or not for preliminary solutions.
private WMMEarthMagneticFluxDensityEstimator	wmmEstimator	World Magnetic Model estimator.

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	RobustKnownFrameMagnetometerCalibrator()	Constructor.
protected	RobustKnownFrameMagnetometerCalibrator(boolean commonAxisUsed)	Constructor.
protected	RobustKnownFrameMagnetometerCalibrator(boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)	Constructor.
protected	RobustKnownFrameMagnetometerCalibrator(RobustKnownFrameMagnetometerCalibratorListener listener)	Constructor.
protected	RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements)	Constructor.
protected	RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)	Constructor.
protected	RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)	Constructor.
protected	RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected void	attemptRefine(RobustKnownFrameMagnetometerCalibrator.PreliminaryResult preliminaryResult)	Attempts to refine calibration parameters if refinement is requested.
protected double	computeError(StandardDeviationFrameBodyMagneticFluxDensity measurement, RobustKnownFrameMagnetometerCalibrator.PreliminaryResult preliminaryResult)	Computes error of a preliminary result respect a given measurement.
protected void	computePreliminarySolutions(int[] samplesIndices, List<RobustKnownFrameMagnetometerCalibrator.PreliminaryResult> solutions)	Computes a preliminary solution for a subset of samples picked by a robust estimator.
private static double	convertMagneticFluxDensity(double value, com.irurueta.units.MagneticFluxDensityUnit unit)	Converts magnetic flux density value and unit to Teslas.
private static double	convertMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity magneticFluxDensity)	Converts magnetic flux density instance to Teslas.
static RobustKnownFrameMagnetometerCalibrator	create()	Creates a robust known frame magnetometer calibrator using default robust method.
static RobustKnownFrameMagnetometerCalibrator	create(boolean commonAxisUsed)	Creates a robust known frame magnetometer calibrator using default robust method.
static RobustKnownFrameMagnetometerCalibrator	create(boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)	Creates a robust known frame magnetometer calibrator using default robust method.
static RobustKnownFrameMagnetometerCalibrator	create(boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(double[] qualityScores, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(double[] qualityScores, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(double[] qualityScores, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(RobustKnownFrameMagnetometerCalibratorListener listener)	Creates a robust known frame magnetometer calibrator using default robust method.
static RobustKnownFrameMagnetometerCalibrator	create(RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements)	Creates a robust known frame magnetometer calibrator using default robust method.
static RobustKnownFrameMagnetometerCalibrator	create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)	Creates a robust known frame magnetometer calibrator using default robust method.
static RobustKnownFrameMagnetometerCalibrator	create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)	Creates a robust known frame magnetometer calibrator using default robust method.
static RobustKnownFrameMagnetometerCalibrator	create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener)	Creates a robust known frame magnetometer calibrator using default robust method.
static RobustKnownFrameMagnetometerCalibrator	create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
static RobustKnownFrameMagnetometerCalibrator	create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust known frame magnetometer calibrator.
double	getConfidence()	Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).
double	getEstimatedChiSq()	Gets estimated chi square value.
com.irurueta.algebra.Matrix	getEstimatedCovariance()	Gets estimated covariance matrix for estimated calibration parameters.
double[]	getEstimatedHardIron()	Gets array containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
boolean	getEstimatedHardIron(double[] result)	Gets array containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
com.irurueta.algebra.Matrix	getEstimatedHardIronAsMatrix()	Gets column matrix containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
boolean	getEstimatedHardIronAsMatrix(com.irurueta.algebra.Matrix result)	Gets column matrix containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
MagneticFluxDensityTriad	getEstimatedHardIronAsTriad()	Gets estimated magnetometer bias.
boolean	getEstimatedHardIronAsTriad(MagneticFluxDensityTriad result)	Gets estimated magnetometer bias.
MagneticFluxDensityTriad	getEstimatedHardIronStandardDeviation()	Gets standard deviation of estimated magnetometer bias coordinates.
boolean	getEstimatedHardIronStandardDeviation(MagneticFluxDensityTriad result)	Gets standard deviation of estimated magnetometer bias coordinates.
Double	getEstimatedHardIronStandardDeviationAverage()	Gets average of estimated standard deviation of magnetometer bias coordinates expressed in Teslas (T).
com.irurueta.units.MagneticFluxDensity	getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity()	Gets average of estimated standard deviation of magnetometer bias coordinates.
boolean	getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)	Gets average of estimated standard deviation of magnetometer bias coordinates.
Double	getEstimatedHardIronStandardDeviationNorm()	Gets norm of estimated standard deviation of magnetometer bias expressed in Teslas (T).
com.irurueta.units.MagneticFluxDensity	getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity()	Gets norm of estimated standard deviation of magnetometer bias.
boolean	getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)	Gets norm of estimated standard deviation of magnetometer bias.
Double	getEstimatedHardIronX()	Gets x coordinate of estimated magnetometer bias expressed in Teslas (T).
com.irurueta.units.MagneticFluxDensity	getEstimatedHardIronXAsMagneticFluxDensity()	Gets x coordinate of estimated magnetometer bias.
boolean	getEstimatedHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)	Gets x coordinate of estimated magnetometer bias.
Double	getEstimatedHardIronXStandardDeviation()	Gets standard deviation of estimated x coordinate of magnetometer bias expressed in Teslas (T).
com.irurueta.units.MagneticFluxDensity	getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity()	Gets standard deviation of estimated x coordinate of magnetometer bias.
boolean	getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)	Gets standard deviation of estimated x coordinate of magnetometer bias.
Double	getEstimatedHardIronXVariance()	Gets variance of estimated x coordinate of magnetometer bias expressed in squared Teslas (T^2).
Double	getEstimatedHardIronY()	Gets y coordinate of estimated magnetometer bias expressed in Teslas (T).
com.irurueta.units.MagneticFluxDensity	getEstimatedHardIronYAsMagneticFluxDensity()	Gets y coordinate of estimated magnetometer bias.
boolean	getEstimatedHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)	Gets y coordinate of estimated magnetometer bias.
Double	getEstimatedHardIronYStandardDeviation()	Gets standard deviation of estimated y coordinate of magnetometer bias expressed in Teslas (T).
com.irurueta.units.MagneticFluxDensity	getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity()	Gets standard deviation of estimated y coordinate of magnetometer bias.
boolean	getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)	Gets standard deviation of estimated y coordinate of magnetometer bias.
Double	getEstimatedHardIronYVariance()	Gets variance of estimated y coordinate of magnetometer bias expressed in squared Teslas (T^2).
Double	getEstimatedHardIronZ()	Gets z coordinate of estimated magnetometer bias expressed in Teslas (T).
com.irurueta.units.MagneticFluxDensity	getEstimatedHardIronZAsMagneticFluxDensity()	Gets z coordinate of estimated magnetometer bias.
boolean	getEstimatedHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)	Gets z coordinate of estimated magnetometer bias.
Double	getEstimatedHardIronZStandardDeviation()	Gets standard deviation of estimated z coordinate of magnetometer bias expressed in Teslas (T).
com.irurueta.units.MagneticFluxDensity	getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity()	Gets standard deviation of estimated z coordinate of magnetometer bias.
boolean	getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)	Gets standard deviation of estimated z coordinate of magnetometer bias.
Double	getEstimatedHardIronZVariance()	Gets variance of estimated z coordinate of magnetometer bias expressed in squared Teslas (T^2).
com.irurueta.algebra.Matrix	getEstimatedMm()	Gets estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors.
double	getEstimatedMse()	Gets estimated mean square error respect to provided measurements.
Double	getEstimatedMxy()	Gets estimated x-y cross-coupling error.
Double	getEstimatedMxz()	Gets estimated x-z cross-coupling error.
Double	getEstimatedMyx()	Gets estimated y-x cross-coupling error.
Double	getEstimatedMyz()	Gets estimated y-z cross-coupling error.
Double	getEstimatedMzx()	Gets estimated z-x cross-coupling error.
Double	getEstimatedMzy()	Gets estimated z-y cross-coupling error.
Double	getEstimatedSx()	Gets estimated x-axis scale factor.
Double	getEstimatedSy()	Gets estimated y-axis scale factor.
Double	getEstimatedSz()	Gets estimated z-axis scale factor.
double[]	getInitialHardIron()	Gets initial hard-iron bias to be used to find a solution as an array.
void	getInitialHardIron(double[] result)	Gets initial hard-iron bias to be used to find a solution as an array.
com.irurueta.algebra.Matrix	getInitialHardIronAsMatrix()	Gets initial hard-iron bias to be used to find a solution as a column matrix.
void	getInitialHardIronAsMatrix(com.irurueta.algebra.Matrix result)	Gets initial hard-iron bias to be used to find a solution as a column matrix.
MagneticFluxDensityTriad	getInitialHardIronAsTriad()	Gets initial hard-iron used to find a solution.
void	getInitialHardIronAsTriad(MagneticFluxDensityTriad result)	Gets initial hard-iron used to find a solution.
double	getInitialHardIronX()	Gets initial x-coordinate of magnetometer hard-iron bias to be used to find a solution.
com.irurueta.units.MagneticFluxDensity	getInitialHardIronXAsMagneticFluxDensity()	Gets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.
void	getInitialHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)	Gets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.
double	getInitialHardIronY()	Gets initial y-coordinate of magnetometer hard-iron bias to be used to find a solution.
com.irurueta.units.MagneticFluxDensity	getInitialHardIronYAsMagneticFluxDensity()	Gets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.
void	getInitialHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)	Gets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.
double	getInitialHardIronZ()	Gets initial z-coordinate of magnetometer hard-iron bias to be used to find a solution.
com.irurueta.units.MagneticFluxDensity	getInitialHardIronZAsMagneticFluxDensity()	Gets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.
void	getInitialHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)	Gets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.
com.irurueta.algebra.Matrix	getInitialMm()	Gets initial scale factors and cross coupling errors matrix.
void	getInitialMm(com.irurueta.algebra.Matrix result)	Gets initial scale factors and cross coupling errors matrix.
double	getInitialMxy()	Gets initial x-y cross coupling error.
double	getInitialMxz()	Gets initial x-z cross coupling error.
double	getInitialMyx()	Gets initial y-x cross coupling error.
double	getInitialMyz()	Gets initial y-z cross coupling error.
double	getInitialMzx()	Gets initial z-x cross coupling error.
double	getInitialMzy()	Gets initial z-y cross coupling error.
double	getInitialSx()	Gets initial x scaling factor.
double	getInitialSy()	Gets initial y scaling factor.
double	getInitialSz()	Gets initial z scaling factor.
com.irurueta.numerical.robust.InliersData	getInliersData()	Gets data related to inliers found after estimation.
RobustKnownFrameMagnetometerCalibratorListener	getListener()	Gets listener to handle events raised by this calibrator.
WorldMagneticModel	getMagneticModel()	Gets Earth's magnetic model.
int	getMaxIterations()	Returns maximum allowed number of iterations.
List<StandardDeviationFrameBodyMagneticFluxDensity>	getMeasurements()	Gets a list of body magnetic flux density measurements taken at different frames (positions, orientations and velocities).
MagnetometerCalibratorMeasurementType	getMeasurementType()	Indicates the type of measurement used by this calibrator.
abstract com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
int	getMinimumRequiredMeasurements()	Gets minimum number of required measurements.
int	getPreliminarySubsetSize()	Gets size of subsets to be checked during robust estimation.
float	getProgressDelta()	Returns amount of progress variation before notifying a progress change during calibration.
double[]	getQualityScores()	Returns quality scores corresponding to each measurement.
boolean	isCommonAxisUsed()	Indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer.
boolean	isCovarianceKept()	Indicates whether covariance must be kept after refining result.
boolean	isLinearCalibratorUsed()	Indicates whether a linear calibrator is used or not for preliminary solutions.
boolean	isOrderedMeasurementsRequired()	Indicates whether this calibrator requires ordered measurements in a list or not.
boolean	isPreliminarySolutionRefined()	Indicates whether preliminary solutions must be refined after an initial linear solution is found.
boolean	isReady()	Indicates whether calibrator is ready to start the estimator.
boolean	isResultRefined()	Indicates whether result must be refined using a non-linear solver over found inliers.
boolean	isRunning()	Indicates whether calibrator is currently running or no.
void	setCommonAxisUsed(boolean commonAxisUsed)	Specifies whether z-axis is assumed to be common for accelerometer and gyroscope.
void	setConfidence(double confidence)	Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).
void	setCovarianceKept(boolean keepCovariance)	Specifies whether covariance must be kept after refining result.
void	setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial cross coupling errors.
void	setInitialHardIron(double[] initialHardIron)	Sets initial hard-iron bias to be used to find a solution as an array.
void	setInitialHardIron(double initialHardIronX, double initialHardIronY, double initialHardIronZ)	Sets initial hard-iron bias coordinates of magnetometer used to find a solution expressed in Teslas (T).
void	setInitialHardIron(com.irurueta.algebra.Matrix initialHardIron)	Sets initial hard-iron bias to be used to find a solution as a column matrix with values expressed in Teslas (T).
void	setInitialHardIron(MagneticFluxDensityTriad initialHardIron)	Sets initial hard-iron used to find a solution.
void	setInitialHardIron(com.irurueta.units.MagneticFluxDensity initialHardIronX, com.irurueta.units.MagneticFluxDensity initialHardIronY, com.irurueta.units.MagneticFluxDensity initialHardIronZ)	Sets initial hard iron coordinates of magnetometer used to find a solution.
void	setInitialHardIronX(double initialHardIronX)	Sets initial x-coordinate of magnetometer hard-iron bias to be used to find a solution.
void	setInitialHardIronX(com.irurueta.units.MagneticFluxDensity initialHardIronX)	Sets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.
void	setInitialHardIronY(double initialHardIronY)	Sets initial y-coordinate of magnetometer hard-iron bias to be used to find a solution.
void	setInitialHardIronY(com.irurueta.units.MagneticFluxDensity initialHardIronY)	Sets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.
void	setInitialHardIronZ(double initialHardIronZ)	Sets initial z-coordinate of magnetometer hard-iron bias to be used to find a solution.
void	setInitialHardIronZ(com.irurueta.units.MagneticFluxDensity initialHardIronZ)	Sets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.
void	setInitialMm(com.irurueta.algebra.Matrix initialMm)	Sets initial scale factors and cross coupling errors matrix.
void	setInitialMxy(double initialMxy)	Sets initial x-y cross coupling error.
void	setInitialMxz(double initialMxz)	Sets initial x-z cross coupling error.
void	setInitialMyx(double initialMyx)	Sets initial y-x cross coupling error.
void	setInitialMyz(double initialMyz)	Sets initial y-z cross coupling error.
void	setInitialMzx(double initialMzx)	Sets initial z-x cross coupling error.
void	setInitialMzy(double initialMzy)	Sets initial z-y cross coupling error.
void	setInitialScalingFactors(double initialSx, double initialSy, double initialSz)	Sets initial scaling factors.
void	setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial scaling factors and cross coupling errors.
void	setInitialSx(double initialSx)	Sets initial x scaling factor.
void	setInitialSy(double initialSy)	Sets initial y scaling factor.
void	setInitialSz(double initialSz)	Sets initial z scaling factor.
void	setLinearCalibratorUsed(boolean linearCalibratorUsed)	Specifies whether a linear calibrator is used or not for preliminary solutions.
void	setListener(RobustKnownFrameMagnetometerCalibratorListener listener)	Sets listener to handle events raised by this calibrator.
void	setMagneticModel(WorldMagneticModel magneticModel)	Sets Earth's magnetic model.
void	setMaxIterations(int maxIterations)	Sets maximum allowed number of iterations.
void	setMeasurements(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements)	Sets a list of body magnetic flux density measurements taken at different frames (positions, orientations and velocities).
void	setPreliminarySolutionRefined(boolean preliminarySolutionRefined)	Specifies whether preliminary solutions must be refined after an initial linear solution is found.
void	setPreliminarySubsetSize(int preliminarySubsetSize)	Sets size of subsets to be checked during robust estimation.
void	setProgressDelta(float progressDelta)	Sets amount of progress variation before notifying a progress change during calibration.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each measurement.
void	setResultRefined(boolean refineResult)	Specifies whether result must be refined using a non-linear solver over found inliers.
protected void	setupWmmEstimator()	Setups World Magnetic Model estimator.

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerCalibrator

calibrate, isQualityScoresRequired

Field Details

DEFAULT_USE_COMMON_Z_AXIS

public static final boolean DEFAULT_USE_COMMON_Z_AXIS

Indicates whether by default a common z-axis is assumed for the accelerometer, gyroscope and magnetometer.

See Also:

• Constant Field Values

MINIMUM_MEASUREMENTS

public static final int MINIMUM_MEASUREMENTS

Required minimum number of measurements.

See Also:

• Constant Field Values

DEFAULT_USE_LINEAR_CALIBRATOR

public static final boolean DEFAULT_USE_LINEAR_CALIBRATOR

Indicates that by default a linear calibrator is used for preliminary solution estimation. The result obtained on each preliminary solution might be later refined.

See Also:

• Constant Field Values

DEFAULT_REFINE_PRELIMINARY_SOLUTIONS

public static final boolean DEFAULT_REFINE_PRELIMINARY_SOLUTIONS

Indicates that by default preliminary solutions are refined.

See Also:

• Constant Field Values

DEFAULT_ROBUST_METHOD

public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD

Default robust estimator method when none is provided.

DEFAULT_REFINE_RESULT

public static final boolean DEFAULT_REFINE_RESULT

Indicates that result is refined by default using a non-linear calibrator (which uses a Levenberg-Marquardt fitter).

See Also:

• Constant Field Values

DEFAULT_KEEP_COVARIANCE

public static final boolean DEFAULT_KEEP_COVARIANCE

Indicates that covariance is kept by default after refining result.

See Also:

• Constant Field Values

DEFAULT_PROGRESS_DELTA

public static final float DEFAULT_PROGRESS_DELTA

Default amount of progress variation before notifying a change in estimation progress. By default this is set to 5%.

See Also:

• Constant Field Values

MIN_PROGRESS_DELTA

public static final float MIN_PROGRESS_DELTA

Minimum allowed value for progress delta.

See Also:

• Constant Field Values

MAX_PROGRESS_DELTA

public static final float MAX_PROGRESS_DELTA

Maximum allowed value for progress delta.

See Also:

• Constant Field Values

DEFAULT_CONFIDENCE

public static final double DEFAULT_CONFIDENCE

Constant defining default confidence of the estimated result, which is 99%. This means that with a probability of 99% estimation will be accurate because chosen sub-samples will be inliers.

See Also:

• Constant Field Values

DEFAULT_MAX_ITERATIONS

public static final int DEFAULT_MAX_ITERATIONS

Default maximum allowed number of iterations.

See Also:

• Constant Field Values

MIN_CONFIDENCE

public static final double MIN_CONFIDENCE

Minimum allowed confidence value.

See Also:

• Constant Field Values

MAX_CONFIDENCE

public static final double MAX_CONFIDENCE

Maximum allowed confidence value.

See Also:

• Constant Field Values

MIN_ITERATIONS

public static final int MIN_ITERATIONS

Minimum allowed number of iterations.

See Also:

• Constant Field Values

measurements

protected List<StandardDeviationFrameBodyMagneticFluxDensity> measurements

Contains a list of body magnetic flux density measurements taken at different frames (positions and orientations) and containing the standard deviation of magnetometer measurements. If a single device magnetometer needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate a given magnetometer model (e.g. obtain an average and less precise calibration for the magnetometer of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

listener

protected RobustKnownFrameMagnetometerCalibratorListener listener

Listener to be notified of events such as when calibration starts, ends or its progress significantly changes.

running

protected boolean running

Indicates whether estimator is running.

progressDelta

protected float progressDelta

Amount of progress variation before notifying a progress change during calibration.

confidence

protected double confidence

Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.

maxIterations

protected int maxIterations

Maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.

inliersData

protected com.irurueta.numerical.robust.InliersData inliersData

Data related to inlier found after calibration.

refineResult

protected boolean refineResult

Indicates whether result must be refined using a non linear calibrator over found inliers. If true, inliers will be computed and kept in any implementation regardless of the settings.

preliminarySubsetSize

protected int preliminarySubsetSize

Size of subsets to be checked during robust estimation.

commonAxisUsed

private boolean commonAxisUsed

This flag indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer. When enabled, this eliminates 3 variables from soft-iron (Mm) matrix.

initialHardIronX

private double initialHardIronX

Initial x-coordinate of hard-iron bias to be used to find a solution. This is expressed in Teslas (T).

initialHardIronY

private double initialHardIronY

Initial y-coordinate of hard-iron bias to be used to find a solution. This is expressed in Teslas (T).

initialHardIronZ

private double initialHardIronZ

Initial z-coordinate of hard-iron bias to be used to find a solution. This is expressed in Teslas (T).

initialSx

private double initialSx

Initial x scaling factor.

initialSy

private double initialSy

Initial y scaling factor.

initialSz

private double initialSz

Initial z scaling factor.

initialMxy

private double initialMxy

Initial x-y cross coupling error.

initialMxz

private double initialMxz

Initial x-z cross coupling error.

initialMyx

private double initialMyx

Initial y-x cross coupling error.

initialMyz

private double initialMyz

Initial y-z cross coupling error.

initialMzx

private double initialMzx

Initial z-x cross coupling error.

initialMzy

private double initialMzy

Initial z-y cross coupling error.

useLinearCalibrator

private boolean useLinearCalibrator

Indicates whether a linear calibrator is used or not for preliminary solutions.

refinePreliminarySolutions

private boolean refinePreliminarySolutions

Indicates whether preliminary solutions must be refined after an initial linear solution is found.

estimatedHardIron

private double[] estimatedHardIron

Estimated magnetometer hard-iron biases for each magnetometer axis expressed in Teslas (T).

estimatedMm

private com.irurueta.algebra.Matrix estimatedMm

Estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors. This is the product of matrix Tm containing cross coupling errors and Km containing scaling factors. So tat:

     Mm = [sx    mxy  mxz] = Tm*Km
          [myx   sy   myz]
          [mzx   mzy  sz ]
 

Where:

     Km = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
 

and

     Tm = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
 

Hence:

     Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
 

This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix becomes upper diagonal:

     Mm = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
 

Values of this matrix are unit-less.

keepCovariance

private boolean keepCovariance

Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.

estimatedCovariance

private com.irurueta.algebra.Matrix estimatedCovariance

Estimated covariance matrix for estimated parameters.

estimatedChiSq

private double estimatedChiSq

Estimated chi square value.

estimatedMse

private double estimatedMse

Estimated mean square error respect to provided measurements.

magneticModel

private WorldMagneticModel magneticModel

Contains Earth's magnetic model.

linearCalibrator

private final KnownFrameMagnetometerLinearLeastSquaresCalibrator linearCalibrator

A linear least squares calibrator.

nonLinearCalibrator

private final KnownFrameMagnetometerNonLinearLeastSquaresCalibrator nonLinearCalibrator

A non-linear least squares calibrator.

wmmEstimator

private WMMEarthMagneticFluxDensityEstimator wmmEstimator

World Magnetic Model estimator.

Constructor Details

RobustKnownFrameMagnetometerCalibrator

protected RobustKnownFrameMagnetometerCalibrator()

Constructor.

RobustKnownFrameMagnetometerCalibrator

protected RobustKnownFrameMagnetometerCalibrator(RobustKnownFrameMagnetometerCalibratorListener listener)

Constructor.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

RobustKnownFrameMagnetometerCalibrator

protected RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements)

Constructor.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

RobustKnownFrameMagnetometerCalibrator

protected RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 RobustKnownFrameMagnetometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

listener - listener to handle events raised by this calibrator.

RobustKnownFrameMagnetometerCalibrator

protected RobustKnownFrameMagnetometerCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

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

RobustKnownFrameMagnetometerCalibrator

protected RobustKnownFrameMagnetometerCalibrator(boolean commonAxisUsed,
 RobustKnownFrameMagnetometerCalibratorListener listener)

Constructor.

Parameters:

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.

RobustKnownFrameMagnetometerCalibrator

protected RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

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

RobustKnownFrameMagnetometerCalibrator

protected RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 RobustKnownFrameMagnetometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and 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.

Method Details

getInitialHardIronX

public double getInitialHardIronX()

Gets initial x-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).

Specified by:

getInitialHardIronX in interface UnknownHardIronNonLinearMagnetometerCalibrator

Returns:

initial x-coordinate of magnetometer hard-iron bias.

setInitialHardIronX

public void setInitialHardIronX(double initialHardIronX)
                         throws com.irurueta.navigation.LockedException

Sets initial x-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).

Specified by:

setInitialHardIronX in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

initialHardIronX - initial x-coordinate of magnetometer hard-iron bias.

Throws:

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

getInitialHardIronY

public double getInitialHardIronY()

Gets initial y-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).

Specified by:

getInitialHardIronY in interface UnknownHardIronNonLinearMagnetometerCalibrator

Returns:

initial y-coordinate of magnetometer hard-iron bias.

setInitialHardIronY

public void setInitialHardIronY(double initialHardIronY)
                         throws com.irurueta.navigation.LockedException

Sets initial y-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).

Specified by:

setInitialHardIronY in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

initialHardIronY - initial y-coordinate of magnetometer hard-iron bias.

Throws:

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

getInitialHardIronZ

public double getInitialHardIronZ()

Gets initial z-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).

Specified by:

getInitialHardIronZ in interface UnknownHardIronNonLinearMagnetometerCalibrator

Returns:

initial z-coordinate of magnetometer hard-iron bias.

setInitialHardIronZ

public void setInitialHardIronZ(double initialHardIronZ)
                         throws com.irurueta.navigation.LockedException

Sets initial z-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in meters Teslas (T).

Specified by:

setInitialHardIronZ in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

initialHardIronZ - initial z-coordinate of magnetometer hard-iron bias.

Throws:

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

getInitialHardIronXAsMagneticFluxDensity

public com.irurueta.units.MagneticFluxDensity getInitialHardIronXAsMagneticFluxDensity()

Gets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.

Specified by:

getInitialHardIronXAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator

Returns:

initial x-coordinate of magnetometer hard-iron bias.

getInitialHardIronXAsMagneticFluxDensity

public void getInitialHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.

Specified by:

getInitialHardIronXAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

result - instance where result will be stored.

setInitialHardIronX

public void setInitialHardIronX(com.irurueta.units.MagneticFluxDensity initialHardIronX)
                         throws com.irurueta.navigation.LockedException

Sets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.

Specified by:

setInitialHardIronX in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

initialHardIronX - initial x-coordinate of magnetometer bias.

Throws:

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

getInitialHardIronYAsMagneticFluxDensity

public com.irurueta.units.MagneticFluxDensity getInitialHardIronYAsMagneticFluxDensity()

Gets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.

Specified by:

getInitialHardIronYAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator

Returns:

initial y-coordinate of magnetometer hard-iron bias.

getInitialHardIronYAsMagneticFluxDensity

public void getInitialHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.

Specified by:

getInitialHardIronYAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

result - instance where result will be stored.

setInitialHardIronY

public void setInitialHardIronY(com.irurueta.units.MagneticFluxDensity initialHardIronY)
                         throws com.irurueta.navigation.LockedException

Sets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.

Specified by:

setInitialHardIronY in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

initialHardIronY - initial y-coordinate of magnetometer bias.

Throws:

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

getInitialHardIronZAsMagneticFluxDensity

public com.irurueta.units.MagneticFluxDensity getInitialHardIronZAsMagneticFluxDensity()

Gets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.

Specified by:

getInitialHardIronZAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator

Returns:

initial z-coordinate of magnetometer hard-iron bias.

getInitialHardIronZAsMagneticFluxDensity

public void getInitialHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.

Specified by:

getInitialHardIronZAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

result - instance where result will be stored.

setInitialHardIronZ

public void setInitialHardIronZ(com.irurueta.units.MagneticFluxDensity initialHardIronZ)
                         throws com.irurueta.navigation.LockedException

Sets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.

Specified by:

setInitialHardIronZ in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

initialHardIronZ - initial z-coordinate of magnetometer bias.

Throws:

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

setInitialHardIron

public void setInitialHardIron(double initialHardIronX,
 double initialHardIronY,
 double initialHardIronZ)
                        throws com.irurueta.navigation.LockedException

Sets initial hard-iron bias coordinates of magnetometer used to find a solution expressed in Teslas (T).

Specified by:

setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

initialHardIronX - initial x-coordinate of magnetometer hard-iron bias.

initialHardIronY - initial y-coordinate of magnetometer hard-iron bias.

initialHardIronZ - initial z-coordinate of magnetometer hard-iron bias.

Throws:

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

setInitialHardIron

public void setInitialHardIron(com.irurueta.units.MagneticFluxDensity initialHardIronX,
 com.irurueta.units.MagneticFluxDensity initialHardIronY,
 com.irurueta.units.MagneticFluxDensity initialHardIronZ)
                        throws com.irurueta.navigation.LockedException

Sets initial hard iron coordinates of magnetometer used to find a solution.

Specified by:

setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

initialHardIronX - initial x-coordinate of magnetometer bias.

initialHardIronY - initial y-coordinate of magnetometer bias.

initialHardIronZ - initial z-coordinate of magnetometer bias.

Throws:

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

getInitialHardIronAsTriad

public MagneticFluxDensityTriad getInitialHardIronAsTriad()

Gets initial hard-iron used to find a solution.

Specified by:

getInitialHardIronAsTriad in interface UnknownHardIronNonLinearMagnetometerCalibrator

Returns:

initial hard-iron.

getInitialHardIronAsTriad

public void getInitialHardIronAsTriad(MagneticFluxDensityTriad result)

Gets initial hard-iron used to find a solution.

Specified by:

getInitialHardIronAsTriad in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

result - instance where result will be stored.

setInitialHardIron

public void setInitialHardIron(MagneticFluxDensityTriad initialHardIron)
                        throws com.irurueta.navigation.LockedException

Sets initial hard-iron used to find a solution.

Specified by:

setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

initialHardIron - initial hard-iron to be set.

Throws:

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

getInitialSx

public double getInitialSx()

Gets initial x scaling factor.

Specified by:

getInitialSx in interface MagnetometerNonLinearCalibrator

Returns:

initial x scaling factor.

setInitialSx

public void setInitialSx(double initialSx)
                  throws com.irurueta.navigation.LockedException

Sets initial x scaling factor.

Specified by:

setInitialSx in interface MagnetometerNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor.

Throws:

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

getInitialSy

public double getInitialSy()

Gets initial y scaling factor.

Specified by:

getInitialSy in interface MagnetometerNonLinearCalibrator

Returns:

initial y scaling factor.

setInitialSy

public void setInitialSy(double initialSy)
                  throws com.irurueta.navigation.LockedException

Sets initial y scaling factor.

Specified by:

setInitialSy in interface MagnetometerNonLinearCalibrator

Parameters:

initialSy - initial y scaling factor.

Throws:

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

getInitialSz

public double getInitialSz()

Gets initial z scaling factor.

Specified by:

getInitialSz in interface MagnetometerNonLinearCalibrator

Returns:

initial z scaling factor.

setInitialSz

public void setInitialSz(double initialSz)
                  throws com.irurueta.navigation.LockedException

Sets initial z scaling factor.

Specified by:

setInitialSz in interface MagnetometerNonLinearCalibrator

Parameters:

initialSz - initial z scaling factor.

Throws:

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

getInitialMxy

public double getInitialMxy()

Gets initial x-y cross coupling error.

Specified by:

getInitialMxy in interface MagnetometerNonLinearCalibrator

Returns:

initial x-y cross coupling error.

setInitialMxy

public void setInitialMxy(double initialMxy)
                   throws com.irurueta.navigation.LockedException

Sets initial x-y cross coupling error.

Specified by:

setInitialMxy in interface MagnetometerNonLinearCalibrator

Parameters:

initialMxy - initial x-y cross coupling error.

Throws:

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

getInitialMxz

public double getInitialMxz()

Gets initial x-z cross coupling error.

Specified by:

getInitialMxz in interface MagnetometerNonLinearCalibrator

Returns:

initial x-z cross coupling error.

setInitialMxz

public void setInitialMxz(double initialMxz)
                   throws com.irurueta.navigation.LockedException

Sets initial x-z cross coupling error.

Specified by:

setInitialMxz in interface MagnetometerNonLinearCalibrator

Parameters:

initialMxz - initial x-z cross coupling error.

Throws:

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

getInitialMyx

public double getInitialMyx()

Gets initial y-x cross coupling error.

Specified by:

getInitialMyx in interface MagnetometerNonLinearCalibrator

Returns:

initial y-x cross coupling error.

setInitialMyx

public void setInitialMyx(double initialMyx)
                   throws com.irurueta.navigation.LockedException

Sets initial y-x cross coupling error.

Specified by:

setInitialMyx in interface MagnetometerNonLinearCalibrator

Parameters:

initialMyx - initial y-x cross coupling error.

Throws:

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

getInitialMyz

public double getInitialMyz()

Gets initial y-z cross coupling error.

Specified by:

getInitialMyz in interface MagnetometerNonLinearCalibrator

Returns:

initial y-z cross coupling error.

setInitialMyz

public void setInitialMyz(double initialMyz)
                   throws com.irurueta.navigation.LockedException

Sets initial y-z cross coupling error.

Specified by:

setInitialMyz in interface MagnetometerNonLinearCalibrator

Parameters:

initialMyz - initial y-z cross coupling error.

Throws:

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

getInitialMzx

public double getInitialMzx()

Gets initial z-x cross coupling error.

Specified by:

getInitialMzx in interface MagnetometerNonLinearCalibrator

Returns:

initial z-x cross coupling error.

setInitialMzx

public void setInitialMzx(double initialMzx)
                   throws com.irurueta.navigation.LockedException

Sets initial z-x cross coupling error.

Specified by:

setInitialMzx in interface MagnetometerNonLinearCalibrator

Parameters:

initialMzx - initial z-x cross coupling error.

Throws:

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

getInitialMzy

public double getInitialMzy()

Gets initial z-y cross coupling error.

Specified by:

getInitialMzy in interface MagnetometerNonLinearCalibrator

Returns:

initial z-y cross coupling error.

setInitialMzy

public void setInitialMzy(double initialMzy)
                   throws com.irurueta.navigation.LockedException

Sets initial z-y cross coupling error.

Specified by:

setInitialMzy in interface MagnetometerNonLinearCalibrator

Parameters:

initialMzy - initial z-y cross coupling error.

Throws:

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

setInitialScalingFactors

public void setInitialScalingFactors(double initialSx,
 double initialSy,
 double initialSz)
                              throws com.irurueta.navigation.LockedException

Sets initial scaling factors.

Specified by:

setInitialScalingFactors in interface MagnetometerNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor.

initialSy - initial y scaling factor.

initialSz - initial z scaling factor.

Throws:

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

setInitialCrossCouplingErrors

public void setInitialCrossCouplingErrors(double initialMxy,
 double initialMxz,
 double initialMyx,
 double initialMyz,
 double initialMzx,
 double initialMzy)
                                   throws com.irurueta.navigation.LockedException

Sets initial cross coupling errors.

Specified by:

setInitialCrossCouplingErrors in interface MagnetometerNonLinearCalibrator

Parameters:

initialMxy - initial x-y cross coupling error.

initialMxz - initial x-z cross coupling error.

initialMyx - initial y-x cross coupling error.

initialMyz - initial y-z cross coupling error.

initialMzx - initial z-x cross coupling error.

initialMzy - initial z-y cross coupling error.

Throws:

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

setInitialScalingFactorsAndCrossCouplingErrors

public void setInitialScalingFactorsAndCrossCouplingErrors(double initialSx,
 double initialSy,
 double initialSz,
 double initialMxy,
 double initialMxz,
 double initialMyx,
 double initialMyz,
 double initialMzx,
 double initialMzy)
                                                    throws com.irurueta.navigation.LockedException

Sets initial scaling factors and cross coupling errors.

Specified by:

setInitialScalingFactorsAndCrossCouplingErrors in interface MagnetometerNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor.

initialSy - initial y scaling factor.

initialSz - initial z scaling factor.

initialMxy - initial x-y cross coupling error.

initialMxz - initial x-z cross coupling error.

initialMyx - initial y-x cross coupling error.

initialMyz - initial y-z cross coupling error.

initialMzx - initial z-x cross coupling error.

initialMzy - initial z-y cross coupling error.

Throws:

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

getInitialHardIron

public double[] getInitialHardIron()

Gets initial hard-iron bias to be used to find a solution as an array. Array values are expressed in Teslas (T).

Specified by:

getInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator

Returns:

array containing coordinates of initial bias.

getInitialHardIron

public void getInitialHardIron(double[] result)

Gets initial hard-iron bias to be used to find a solution as an array. Array values are expressed in Teslas (T).

Specified by:

getInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided array does not have length 3.

setInitialHardIron

public void setInitialHardIron(double[] initialHardIron)
                        throws com.irurueta.navigation.LockedException

Sets initial hard-iron bias to be used to find a solution as an array. Array values are expressed in Teslas (T).

Specified by:

setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

initialHardIron - initial hard-iron to find a solution.

Throws:

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

IllegalArgumentException - if provided array does not have length 3.

getInitialHardIronAsMatrix

public com.irurueta.algebra.Matrix getInitialHardIronAsMatrix()

Gets initial hard-iron bias to be used to find a solution as a column matrix. Values are expressed in Teslas (T).

Specified by:

getInitialHardIronAsMatrix in interface UnknownHardIronNonLinearMagnetometerCalibrator

Returns:

initial hard-iron bias to be used to find a solution as a column matrix.

getInitialHardIronAsMatrix

public void getInitialHardIronAsMatrix(com.irurueta.algebra.Matrix result)

Gets initial hard-iron bias to be used to find a solution as a column matrix. Values are expressed in Teslas (T).

Specified by:

getInitialHardIronAsMatrix in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

setInitialHardIron

public void setInitialHardIron(com.irurueta.algebra.Matrix initialHardIron)
                        throws com.irurueta.navigation.LockedException

Sets initial hard-iron bias to be used to find a solution as a column matrix with values expressed in Teslas (T).

Specified by:

setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator

Parameters:

initialHardIron - initial hard-iron bias to find a solution.

Throws:

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

IllegalArgumentException - if provided matrix is not 3x1.

getInitialMm

public com.irurueta.algebra.Matrix getInitialMm()

Gets initial scale factors and cross coupling errors matrix.

Specified by:

getInitialMm in interface MagnetometerNonLinearCalibrator

Returns:

initial scale factors and cross coupling errors matrix.

getInitialMm

public void getInitialMm(com.irurueta.algebra.Matrix result)

Gets initial scale factors and cross coupling errors matrix.

Specified by:

getInitialMm in interface MagnetometerNonLinearCalibrator

Parameters:

result - instance where data will be stored.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

setInitialMm

public void setInitialMm(com.irurueta.algebra.Matrix initialMm)
                  throws com.irurueta.navigation.LockedException

Sets initial scale factors and cross coupling errors matrix.

Specified by:

setInitialMm in interface MagnetometerNonLinearCalibrator

Parameters:

initialMm - initial scale factors and cross coupling errors matrix.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

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

getMeasurements

public List<StandardDeviationFrameBodyMagneticFluxDensity> getMeasurements()

Gets a list of body magnetic flux density measurements taken at different frames (positions, orientations and velocities). If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

Specified by:

getMeasurements in interface OrderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator

Returns:

a collection of body magnetic flux density measurements taken at different frames (positions, orientations and velocities).

setMeasurements

public void setMeasurements(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements)
                     throws com.irurueta.navigation.LockedException

Sets a list of body magnetic flux density measurements taken at different frames (positions, orientations and velocities). If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

Specified by:

setMeasurements in interface OrderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator

Parameters:

measurements - collection of body magnetic flux density measurements taken at different frames (positions, orientations and velocities).

Throws:

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

getMeasurementType

public MagnetometerCalibratorMeasurementType getMeasurementType()

Indicates the type of measurement used by this calibrator.

Specified by:

getMeasurementType in interface MagnetometerCalibrator

Returns:

type of measurement used by this calibrator.

isOrderedMeasurementsRequired

public boolean isOrderedMeasurementsRequired()

Indicates whether this calibrator requires ordered measurements in a list or not.

Specified by:

isOrderedMeasurementsRequired in interface MagnetometerCalibrator

Returns:

true if measurements must be ordered, false otherwise.

isCommonAxisUsed

public boolean isCommonAxisUsed()

Indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer. When enabled, this eliminates 3 variables from Mm (soft-iron) matrix.

Specified by:

isCommonAxisUsed in interface MagnetometerCalibrator

Returns:

true if z-axis is assumed to be common for accelerometer, gyroscope and magnetometer, false otherwise.

setCommonAxisUsed

public void setCommonAxisUsed(boolean commonAxisUsed)
                       throws com.irurueta.navigation.LockedException

Specifies whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Mm matrix.

Specified by:

setCommonAxisUsed in interface MagnetometerCalibrator

Parameters:

commonAxisUsed - true if z-axis is assumed to be common for accelerometer, gyroscope and magnetometer, false otherwise.

Throws:

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

getListener

public RobustKnownFrameMagnetometerCalibratorListener getListener()

Gets listener to handle events raised by this calibrator.

Returns:

listener to handle events raised by this calibrator.

setListener

public void setListener(RobustKnownFrameMagnetometerCalibratorListener listener)
                 throws com.irurueta.navigation.LockedException

Sets listener to handle events raised by this calibrator.

Parameters:

listener - listener to handle events raised by this calibrator.

Throws:

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

getMinimumRequiredMeasurements

public int getMinimumRequiredMeasurements()

Gets minimum number of required measurements.

Specified by:

getMinimumRequiredMeasurements in interface MagnetometerCalibrator

Returns:

minimum number of required measurements.

isReady

public boolean isReady()

Indicates whether calibrator is ready to start the estimator.

Specified by:

isReady in interface MagnetometerCalibrator

Returns:

true if calibrator is ready, false otherwise.

isRunning

public boolean isRunning()

Indicates whether calibrator is currently running or no.

Specified by:

isRunning in interface MagnetometerCalibrator

Returns:

true if calibrator is running, false otherwise.

getMagneticModel

public WorldMagneticModel getMagneticModel()

Gets Earth's magnetic model.

Returns:

Earth's magnetic model or null if not provided.

setMagneticModel

public void setMagneticModel(WorldMagneticModel magneticModel)
                      throws com.irurueta.navigation.LockedException

Sets Earth's magnetic model.

Parameters:

magneticModel - Earth's magnetic model to be set.

Throws:

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

isLinearCalibratorUsed

public boolean isLinearCalibratorUsed()

Indicates whether a linear calibrator is used or not for preliminary solutions.

Returns:

indicates whether a linear calibrator is used or not for preliminary solutions.

setLinearCalibratorUsed

public void setLinearCalibratorUsed(boolean linearCalibratorUsed)
                             throws com.irurueta.navigation.LockedException

Specifies whether a linear calibrator is used or not for preliminary solutions.

Parameters:

linearCalibratorUsed - indicates whether a linear calibrator is used or not for preliminary solutions.

Throws:

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

isPreliminarySolutionRefined

public boolean isPreliminarySolutionRefined()

Indicates whether preliminary solutions must be refined after an initial linear solution is found. If no initial solution is found using a linear solver, a non linear solver will be used regardless of this value using an average solution as the initial value to be refined.

Returns:

true if preliminary solutions must be refined after an initial linear solution, false otherwise.

setPreliminarySolutionRefined

public void setPreliminarySolutionRefined(boolean preliminarySolutionRefined)
                                   throws com.irurueta.navigation.LockedException

Specifies whether preliminary solutions must be refined after an initial linear solution is found. If no initial solution is found using a linear solver, a non linear solver will be used regardless of this value using an average solution as the initial value to be refined.

Parameters:

preliminarySolutionRefined - true if preliminary solutions must be refined after an initial linear solution, false otherwise.

Throws:

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

getProgressDelta

public float getProgressDelta()

Returns amount of progress variation before notifying a progress change during calibration.

Returns:

amount of progress variation before notifying a progress change during calibration.

setProgressDelta

public void setProgressDelta(float progressDelta)
                      throws com.irurueta.navigation.LockedException

Sets amount of progress variation before notifying a progress change during calibration.

Parameters:

progressDelta - amount of progress variation before notifying a progress change during calibration.

Throws:

IllegalArgumentException - if progress delta is less than zero or greater than 1.

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

getConfidence

public double getConfidence()

Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.

Returns:

amount of confidence as a value between 0.0 and 1.0.

setConfidence

public void setConfidence(double confidence)
                   throws com.irurueta.navigation.LockedException

Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.

Parameters:

confidence - confidence to be set as a value between 0.0 and 1.0.

Throws:

IllegalArgumentException - if provided value is not between 0.0 and 1.0.

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

getMaxIterations

public int getMaxIterations()

Returns maximum allowed number of iterations. If maximum allowed number of iterations is achieved without converging to a result when calling calibrate(), a RobustEstimatorException will be raised.

Returns:

maximum allowed number of iterations.

setMaxIterations

public void setMaxIterations(int maxIterations)
                      throws com.irurueta.navigation.LockedException

Sets maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.

Parameters:

maxIterations - maximum allowed number of iterations to be set.

Throws:

IllegalArgumentException - if provided value is less than 1.

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

getInliersData

public com.irurueta.numerical.robust.InliersData getInliersData()

Gets data related to inliers found after estimation.

Returns:

data related to inliers found after estimation.

isResultRefined

public boolean isResultRefined()

Indicates whether result must be refined using a non-linear solver over found inliers.

Returns:

true to refine result, false to simply use result found by robust estimator without further refining.

setResultRefined

public void setResultRefined(boolean refineResult)
                      throws com.irurueta.navigation.LockedException

Specifies whether result must be refined using a non-linear solver over found inliers.

Parameters:

refineResult - true to refine result, false to simply use result found by robust estimator without further refining.

Throws:

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

isCovarianceKept

public boolean isCovarianceKept()

Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.

Returns:

true if covariance must be kept after refining result, false otherwise.

setCovarianceKept

public void setCovarianceKept(boolean keepCovariance)
                       throws com.irurueta.navigation.LockedException

Specifies whether covariance must be kept after refining result. This setting is only taken into account if result is refined.

Parameters:

keepCovariance - true if covariance must be kept after refining result, false otherwise.

Throws:

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

getQualityScores

public double[] getQualityScores()

Returns quality scores corresponding to each measurement. The larger the score value the better the quality of the sample. This implementation always returns null. Subclasses using quality scores must implement proper behavior.

Specified by:

getQualityScores in interface QualityScoredMagnetometerCalibrator

Returns:

quality scores corresponding to each sample.

setQualityScores

public void setQualityScores(double[] qualityScores)
                      throws com.irurueta.navigation.LockedException

Sets quality scores corresponding to each measurement. The larger the score value the better the quality of the sample. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.

Specified by:

setQualityScores in interface QualityScoredMagnetometerCalibrator

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.

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

getEstimatedHardIron

public double[] getEstimatedHardIron()

Gets array containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).

Specified by:

getEstimatedHardIron in interface UnknownHardIronMagnetometerCalibrator

Returns:

array containing x,y,z components of estimated magnetometer hard-iron biases.

getEstimatedHardIron

public boolean getEstimatedHardIron(double[] result)

Gets array containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).

Specified by:

getEstimatedHardIron in interface UnknownHardIronMagnetometerCalibrator

Parameters:

result - instance where estimated magnetometer biases will be stored.

Returns:

true if result instance was updated, false otherwise (when estimation is not yet available).

getEstimatedHardIronAsMatrix

public com.irurueta.algebra.Matrix getEstimatedHardIronAsMatrix()

Gets column matrix containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).

Specified by:

getEstimatedHardIronAsMatrix in interface UnknownHardIronMagnetometerCalibrator

Returns:

column matrix containing x,y,z components of estimated magnetometer hard-iron biases.

getEstimatedHardIronAsMatrix

public boolean getEstimatedHardIronAsMatrix(com.irurueta.algebra.Matrix result)
                                     throws com.irurueta.algebra.WrongSizeException

Gets column matrix containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).

Specified by:

getEstimatedHardIronAsMatrix in interface UnknownHardIronMagnetometerCalibrator

Parameters:

result - instance where result data will be stored.

Returns:

true if result was updated, false otherwise.

Throws:

com.irurueta.algebra.WrongSizeException - if provided result instance has invalid size.

getEstimatedHardIronX

public Double getEstimatedHardIronX()

Gets x coordinate of estimated magnetometer bias expressed in Teslas (T).

Specified by:

getEstimatedHardIronX in interface UnknownHardIronMagnetometerCalibrator

Returns:

x coordinate of estimated magnetometer bias or null if not available.

getEstimatedHardIronY

public Double getEstimatedHardIronY()

Gets y coordinate of estimated magnetometer bias expressed in Teslas (T).

Specified by:

getEstimatedHardIronY in interface UnknownHardIronMagnetometerCalibrator

Returns:

y coordinate of estimated magnetometer bias or null if not available.

getEstimatedHardIronZ

public Double getEstimatedHardIronZ()

Gets z coordinate of estimated magnetometer bias expressed in Teslas (T).

Specified by:

getEstimatedHardIronZ in interface UnknownHardIronMagnetometerCalibrator

Returns:

z coordinate of estimated magnetometer bias or null if not available.

getEstimatedHardIronXAsMagneticFluxDensity

public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronXAsMagneticFluxDensity()

Gets x coordinate of estimated magnetometer bias.

Specified by:

getEstimatedHardIronXAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator

Returns:

x coordinate of estimated magnetometer bias.

getEstimatedHardIronXAsMagneticFluxDensity

public boolean getEstimatedHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets x coordinate of estimated magnetometer bias.

Specified by:

getEstimatedHardIronXAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator

Parameters:

result - instance where result will be stored.

Returns:

true if estimated magnetometer bias is available, false otherwise.

getEstimatedHardIronYAsMagneticFluxDensity

public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronYAsMagneticFluxDensity()

Gets y coordinate of estimated magnetometer bias.

Specified by:

getEstimatedHardIronYAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator

Returns:

y coordinate of estimated magnetometer bias.

getEstimatedHardIronYAsMagneticFluxDensity

public boolean getEstimatedHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets y coordinate of estimated magnetometer bias.

Specified by:

getEstimatedHardIronYAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator

Parameters:

result - instance where result will be stored.

Returns:

true if estimated magnetometer bias is available, false otherwise.

getEstimatedHardIronZAsMagneticFluxDensity

public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronZAsMagneticFluxDensity()

Gets z coordinate of estimated magnetometer bias.

Specified by:

getEstimatedHardIronZAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator

Returns:

z coordinate of estimated magnetometer bias.

getEstimatedHardIronZAsMagneticFluxDensity

public boolean getEstimatedHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets z coordinate of estimated magnetometer bias.

Specified by:

getEstimatedHardIronZAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator

Parameters:

result - instance where result will be stored.

Returns:

true if estimated magnetometer bias is available, false otherwise.

getEstimatedHardIronAsTriad

public MagneticFluxDensityTriad getEstimatedHardIronAsTriad()

Gets estimated magnetometer bias.

Specified by:

getEstimatedHardIronAsTriad in interface UnknownHardIronMagnetometerCalibrator

Returns:

estimated magnetometer bias or null if not available.

getEstimatedHardIronAsTriad

public boolean getEstimatedHardIronAsTriad(MagneticFluxDensityTriad result)

Gets estimated magnetometer bias.

Specified by:

getEstimatedHardIronAsTriad in interface UnknownHardIronMagnetometerCalibrator

Parameters:

result - instance where result will be stored.

Returns:

true if estimated magnetometer bias is available and result was modified, false otherwise.

getEstimatedMm

public com.irurueta.algebra.Matrix getEstimatedMm()

Gets estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors. This is the product of matrix Tm containing cross coupling errors and Km containing scaling factors. So tat:

     Mm = [sx    mxy  mxz] = Tm*Km
          [myx   sy   myz]
          [mzx   mzy  sz ]
 

Where:

     Km = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
 

and

     Tm = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
 

Hence:

     Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
 

This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix becomes upper diagonal:

     Mm = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
 

Values of this matrix are unit-less.

Specified by:

getEstimatedMm in interface MagnetometerCalibrator

Returns:

estimated magnetometer soft-iron scale factors and cross coupling errors, or null if not available.

getEstimatedSx

public Double getEstimatedSx()

Gets estimated x-axis scale factor.

Specified by:

getEstimatedSx in interface MagnetometerCalibrator

Returns:

estimated x-axis scale factor or null if not available.

getEstimatedSy

public Double getEstimatedSy()

Gets estimated y-axis scale factor.

Specified by:

getEstimatedSy in interface MagnetometerCalibrator

Returns:

estimated y-axis scale factor or null if not available.

getEstimatedSz

public Double getEstimatedSz()

Gets estimated z-axis scale factor.

Specified by:

getEstimatedSz in interface MagnetometerCalibrator

Returns:

estimated z-axis scale factor or null if not available.

getEstimatedMxy

public Double getEstimatedMxy()

Gets estimated x-y cross-coupling error.

Specified by:

getEstimatedMxy in interface MagnetometerCalibrator

Returns:

estimated x-y cross-coupling error or null if not available.

getEstimatedMxz

public Double getEstimatedMxz()

Gets estimated x-z cross-coupling error.

Specified by:

getEstimatedMxz in interface MagnetometerCalibrator

Returns:

estimated x-z cross-coupling error or null if not available.

getEstimatedMyx

public Double getEstimatedMyx()

Gets estimated y-x cross-coupling error.

Specified by:

getEstimatedMyx in interface MagnetometerCalibrator

Returns:

estimated y-x cross-coupling error or null if not available.

getEstimatedMyz

public Double getEstimatedMyz()

Gets estimated y-z cross-coupling error.

Specified by:

getEstimatedMyz in interface MagnetometerCalibrator

Returns:

estimated y-z cross-coupling error or null if not available.

getEstimatedMzx

public Double getEstimatedMzx()

Gets estimated z-x cross-coupling error.

Specified by:

getEstimatedMzx in interface MagnetometerCalibrator

Returns:

estimated z-x cross-coupling error or null if not available.

getEstimatedMzy

public Double getEstimatedMzy()

Gets estimated z-y cross-coupling error.

Specified by:

getEstimatedMzy in interface MagnetometerCalibrator

Returns:

estimated z-y cross-coupling error or null if not available.

getEstimatedChiSq

public double getEstimatedChiSq()

Gets estimated chi square value.

Specified by:

getEstimatedChiSq in interface MagnetometerNonLinearCalibrator

Returns:

estimated chi square value.

getEstimatedMse

public double getEstimatedMse()

Gets estimated mean square error respect to provided measurements.

Specified by:

getEstimatedMse in interface MagnetometerNonLinearCalibrator

Returns:

estimated mean square error respect to provided measurements.

getEstimatedCovariance

public com.irurueta.algebra.Matrix getEstimatedCovariance()

Gets estimated covariance matrix for estimated calibration parameters. Diagonal elements of the matrix contains variance for the following parameters (following indicated order): bx, by, bz, sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy.

Specified by:

getEstimatedCovariance in interface MagnetometerNonLinearCalibrator

Returns:

estimated covariance matrix for estimated calibration parameters.

getEstimatedHardIronXVariance

public Double getEstimatedHardIronXVariance()

Gets variance of estimated x coordinate of magnetometer bias expressed in squared Teslas (T^2).

Returns:

variance of estimated x coordinate of magnetometer bias or null if not available.

getEstimatedHardIronXStandardDeviation

public Double getEstimatedHardIronXStandardDeviation()

Gets standard deviation of estimated x coordinate of magnetometer bias expressed in Teslas (T).

Returns:

standard deviation of estimated x coordinate of magnetometer bias or null if not available.

getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity

public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity()

Gets standard deviation of estimated x coordinate of magnetometer bias.

Returns:

standard deviation of estimated x coordinate of magnetometer bias or null if not available.

getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity

public boolean getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets standard deviation of estimated x coordinate of magnetometer bias.

Parameters:

result - instance where result will be stored.

Returns:

true if standard deviation of estimated x coordinate of magnetometer bias is available, false otherwise.

getEstimatedHardIronYVariance

public Double getEstimatedHardIronYVariance()

Gets variance of estimated y coordinate of magnetometer bias expressed in squared Teslas (T^2).

Returns:

variance of estimated y coordinate of magnetometer bias or null if not available.

getEstimatedHardIronYStandardDeviation

public Double getEstimatedHardIronYStandardDeviation()

Gets standard deviation of estimated y coordinate of magnetometer bias expressed in Teslas (T).

Returns:

standard deviation of estimated y coordinate of magnetometer bias or null if not available.

getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity

public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity()

Gets standard deviation of estimated y coordinate of magnetometer bias.

Returns:

standard deviation of estimated y coordinate of magnetometer bias or null if not available.

getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity

public boolean getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets standard deviation of estimated y coordinate of magnetometer bias.

Parameters:

result - instance where result will be stored.

Returns:

true if standard deviation of estimated y coordinate of magnetometer bias is available, false otherwise.

getEstimatedHardIronZVariance

public Double getEstimatedHardIronZVariance()

Gets variance of estimated z coordinate of magnetometer bias expressed in squared Teslas (T^2).

Returns:

variance of estimated z coordinate of magnetometer bias or null if not available.

getEstimatedHardIronZStandardDeviation

public Double getEstimatedHardIronZStandardDeviation()

Gets standard deviation of estimated z coordinate of magnetometer bias expressed in Teslas (T).

Returns:

standard deviation of estimated z coordinate of magnetometer bias or null if not available.

getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity

public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity()

Gets standard deviation of estimated z coordinate of magnetometer bias.

Returns:

standard deviation of estimated z coordinate of magnetometer bias or null if not available.

getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity

public boolean getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets standard deviation of estimated z coordinate of magnetometer bias.

Parameters:

result - instance where result will be stored.

Returns:

true if standard deviation of estimated z coordinate of magnetometer bias is available, false otherwise.

getEstimatedHardIronStandardDeviation

public MagneticFluxDensityTriad getEstimatedHardIronStandardDeviation()

Gets standard deviation of estimated magnetometer bias coordinates.

Returns:

standard deviation of estimated magnetometer bias coordinates.

getEstimatedHardIronStandardDeviation

public boolean getEstimatedHardIronStandardDeviation(MagneticFluxDensityTriad result)

Gets standard deviation of estimated magnetometer bias coordinates.

Parameters:

result - instance where result will be stored.

Returns:

true if standard deviation of magnetometer bias was available, false otherwise.

getEstimatedHardIronStandardDeviationAverage

public Double getEstimatedHardIronStandardDeviationAverage()

Gets average of estimated standard deviation of magnetometer bias coordinates expressed in Teslas (T).

Returns:

average of estimated standard deviation of magnetometer bias coordinates, or null if not available.

getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity

public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity()

Gets average of estimated standard deviation of magnetometer bias coordinates.

Returns:

average of estimated standard deviation of magnetometer bias coordinates, or null if not available.

getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity

public boolean getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets average of estimated standard deviation of magnetometer bias coordinates.

Parameters:

result - instance where result will be stored.

Returns:

true if average of estimated standard deviation of magnetometer bias is available, false otherwise.

getEstimatedHardIronStandardDeviationNorm

public Double getEstimatedHardIronStandardDeviationNorm()

Gets norm of estimated standard deviation of magnetometer bias expressed in Teslas (T).

Returns:

norm of estimated standard deviation of magnetometer bias or null if not available.

getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity

public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity()

Gets norm of estimated standard deviation of magnetometer bias.

Returns:

norm of estimated standard deviation of magnetometer bias or null if not available.

getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity

public boolean getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets norm of estimated standard deviation of magnetometer bias.

Parameters:

result - instance where result will be stored.

Returns:

true if norm of estimated standard deviation of magnetometer bias is available, false otherwise.

getPreliminarySubsetSize

public int getPreliminarySubsetSize()

Gets size of subsets to be checked during robust estimation. This has to be at least MINIMUM_MEASUREMENTS.

Returns:

size of subsets to be checked during robust estimation.

setPreliminarySubsetSize

public void setPreliminarySubsetSize(int preliminarySubsetSize)
                              throws com.irurueta.navigation.LockedException

Sets size of subsets to be checked during robust estimation. This has to be at least MINIMUM_MEASUREMENTS.

Parameters:

preliminarySubsetSize - size of subsets to be checked during robust estimation.

Throws:

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

IllegalArgumentException - if provided value is less than MINIMUM_MEASUREMENTS.

getMethod

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

Returns method being used for robust estimation.

Returns:

method being used for robust estimation.

create

public static RobustKnownFrameMagnetometerCalibrator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(RobustKnownFrameMagnetometerCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 RobustKnownFrameMagnetometerCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(boolean commonAxisUsed,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

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

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(boolean commonAxisUsed,
 RobustKnownFrameMagnetometerCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

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.

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

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

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 RobustKnownFrameMagnetometerCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and 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.

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

create

public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores,
 RobustKnownFrameMagnetometerCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

create

public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

create

public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 RobustKnownFrameMagnetometerCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

create

public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores,
 boolean commonAxisUsed,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

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

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

create

public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores,
 boolean commonAxisUsed,
 RobustKnownFrameMagnetometerCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

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.

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

create

public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

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

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

create

public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 RobustKnownFrameMagnetometerCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and 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.

method - robust estimator method.

Returns:

a robust known frame magnetometer calibrator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

create

public static RobustKnownFrameMagnetometerCalibrator create()

Creates a robust known frame magnetometer calibrator using default robust method.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(RobustKnownFrameMagnetometerCalibratorListener listener)

Creates a robust known frame magnetometer calibrator using default robust method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements)

Creates a robust known frame magnetometer calibrator using default robust method.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 RobustKnownFrameMagnetometerCalibratorListener listener)

Creates a robust known frame magnetometer calibrator using default robust method.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

listener - listener to handle events raised by this calibrator.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(boolean commonAxisUsed)

Creates a robust known frame magnetometer calibrator using default robust method.

Parameters:

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

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(boolean commonAxisUsed,
 RobustKnownFrameMagnetometerCalibratorListener listener)

Creates a robust known frame magnetometer calibrator using default robust method.

Parameters:

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.

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed)

Creates a robust known frame magnetometer calibrator using default robust method.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).

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

Returns:

a robust known frame magnetometer calibrator.

create

public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements,
 boolean commonAxisUsed,
 RobustKnownFrameMagnetometerCalibratorListener listener)

Creates a robust known frame magnetometer calibrator using default robust method.

Parameters:

measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and 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.

Returns:

a robust known frame magnetometer calibrator.

setupWmmEstimator

protected void setupWmmEstimator()
                          throws IOException

Setups World Magnetic Model estimator.

Throws:

IOException - if model cannot be loaded.

computeError

protected double computeError(StandardDeviationFrameBodyMagneticFluxDensity measurement,
 RobustKnownFrameMagnetometerCalibrator.PreliminaryResult preliminaryResult)

Computes error of a preliminary result respect a given measurement.

Parameters:

measurement - a measurement.

preliminaryResult - a preliminary result.

Returns:

computed error.

computePreliminarySolutions

protected void computePreliminarySolutions(int[] samplesIndices,
 List<RobustKnownFrameMagnetometerCalibrator.PreliminaryResult> solutions)

Computes a preliminary solution for a subset of samples picked by a robust estimator.

Parameters:

samplesIndices - indices of samples picked by the robust estimator.

solutions - list where estimated preliminary solution will be stored.

attemptRefine

protected void attemptRefine(RobustKnownFrameMagnetometerCalibrator.PreliminaryResult preliminaryResult)

Attempts to refine calibration parameters if refinement is requested. This method returns a refined solution or provided input if refinement is not requested or has failed. If refinement is enabled and it is requested to keep covariance, this method will also keep covariance of refined position.

Parameters:

preliminaryResult - a preliminary result.

convertMagneticFluxDensity

private static double convertMagneticFluxDensity(double value,
 com.irurueta.units.MagneticFluxDensityUnit unit)

Converts magnetic flux density value and unit to Teslas.

Parameters:

value - magnetic flux density value.

unit - unit of magnetic flux density value.

Returns:

converted value.

convertMagneticFluxDensity

private static double convertMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity magneticFluxDensity)

Converts magnetic flux density instance to Teslas.

Parameters:

magneticFluxDensity - magnetic flux density instance to be converted.

Returns:

converted value.