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

Class BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<C extends BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<?,?>,L extends BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener<C>>

java.lang.Object
com.irurueta.navigation.inertial.calibration.magnetometer.BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<C,L>
Type Parameters:
C - Calibrator type.
L - Listener type.
All Implemented Interfaces:
KnownHardIronMagnetometerCalibrator, MagnetometerCalibrator, MagnetometerNonLinearCalibrator, UnorderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator
Direct Known Subclasses:
KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator, KnownHardIronPositionAndInstantMagnetometerCalibrator
public class BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<C extends BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<?,?>,L extends BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener<C>> extends Object implements MagnetometerNonLinearCalibrator, KnownHardIronMagnetometerCalibrator, UnorderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator
Abstract class to estimate magnetometer cross couplings and scaling factors. This calibrator uses Levenberg-Marquardt to find a minimum least squared error solution.

To use this calibrator at least 7 measurements taken at a single unknown and unknown orientations when common z-axis is assumed, otherwise at least 10 measurements are required.

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

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

  • Field Details

    • DEFAULT_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:

    • COMMON_Z_AXIS_UNKNOWNS

      private static final int COMMON_Z_AXIS_UNKNOWNS
      Number of unknowns when common z-axis is assumed for the accelerometer, gyroscope and magnetometer.
      See Also:

    • GENERAL_UNKNOWNS

      private static final int GENERAL_UNKNOWNS
      Number of unknowns for the general case.
      See Also:

    • MINIMUM_MEASUREMENTS_COMMON_Z_AXIS

      public static final int MINIMUM_MEASUREMENTS_COMMON_Z_AXIS
      Required minimum number of measurements when common z-axis is assumed.
      See Also:

    • MINIMUM_MEASUREMENTS_GENERAL

      public static final int MINIMUM_MEASUREMENTS_GENERAL
      Required minimum number of measurements for the general case.
      See Also:

    • groundTruthMagneticFluxDensityNorm

      protected Double groundTruthMagneticFluxDensityNorm
      Ground truth magnetic flux density norm to be expected at location where measurements have been made, expressed in Teslas (T).

    • fitter

      private final com.irurueta.numerical.fitting.LevenbergMarquardtMultiDimensionFitter fitter
      Levenberg-Marquardt fitter to find a non-linear solution.

    • hardIronX

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

    • hardIronY

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

    • hardIronZ

      private double hardIronZ
      Known 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.

    • measurements

      private Collection<StandardDeviationBodyMagneticFluxDensity> measurements
      Contains a collection of body magnetic flux density measurements taken at a given position with different unknown orientations and containing the standard deviation of magnetometer measurements.

    • 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 Mm matrix.

    • listener

      private L extends BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener<C> listener
      Listener to handle events raised by this calibrator.

    • 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.

    • estimatedCovariance

      private com.irurueta.algebra.Matrix estimatedCovariance
      Estimated covariance matrix for estimated parameters.

    • estimatedChiSq

      private double estimatedChiSq
      Estimated chi square value.

    • estimatedChiSqDegreesOfFreedom

      private int estimatedChiSqDegreesOfFreedom
      Estimated degrees of freedom of chi square value. Degrees of freedom is equal to the number of sampled data minus the number of estimated parameters.

    • estimatedReducedChiSq

      private double estimatedReducedChiSq
      Estimated reduced chi square value. This is equal to estimated chi square value divided by its degrees of freedom. Ideally this value should be close to 1.0.

    • estimatedMse

      private double estimatedMse
      Estimated mean square error respect to provided measurements.

    • estimatedP

      private double estimatedP
      Estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0. The smaller the found chi square value is, the better the fit of the estimated parameters to the actual parameter. Thus, the smaller the chance of finding a smaller chi square value, then the better the estimated fit is.

    • estimatedQ

      private double estimatedQ
      Estimated measure of quality of estimated fit as a value between 0.0 and 1.0. The larger the quality value is, the better the fit that has been estimated.

    • running

      private boolean running
      Indicates whether calibrator is running.

    • bmeasX

      private double bmeasX
      Internally holds x-coordinate of measured magnetic flux density during calibration.

    • bmeasY

      private double bmeasY
      Internally holds y-coordinate of measured magnetic flux density during calibration.

    • bmeasZ

      private double bmeasZ
      Internally holds z-coordinate of measured magnetic flux density during calibration.

    • bmeas

      private com.irurueta.algebra.Matrix bmeas
      Internally holds measured magnetic flux density during calibration expressed as a column matrix.

    • m

      private com.irurueta.algebra.Matrix m
      Internally holds cross-coupling errors during calibration.

    • invM

      private com.irurueta.algebra.Matrix invM
      Internally holds inverse of cross-coupling errors during calibration.

    • b

      private com.irurueta.algebra.Matrix b
      Internally holds biases during calibration.

    • btrue

      private com.irurueta.algebra.Matrix btrue
      Internally holds computed true magnetic flux density during calibration.

    • bm

      private com.irurueta.algebra.Matrix bm
      Internally hold biases during calibration in external format.

  • Constructor Details

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator()
      Constructor.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

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

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, L listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

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

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, L listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

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

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron, L listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, L listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

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

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, L listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, L listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

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

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, L listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      public BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, L listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, L listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, L listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, L listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, double[] hardIron, L listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] hardIron, L listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, L listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, L listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, L listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator

      protected BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix initialMm, L listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      hardIron - known hard-iron.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

  • Method Details

    • getGroundTruthMagneticFluxDensityNorm

      public Double getGroundTruthMagneticFluxDensityNorm()
      Gets ground truth magnetic flux density norm to be expected at location where measurements have been made, expressed in Teslas (T).
      Returns:
      ground truth magnetic flux density or null.

    • getGroundTruthMagneticFluxDensityNormAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getGroundTruthMagneticFluxDensityNormAsMagneticFluxDensity()
      Gets ground truth magnetic flux density norm to be expected at location where measurements have been made.
      Returns:
      ground truth magnetic flux density or null.

    • getGroundTruthMagneticFluxDensityNormAsMagneticFluxDensity

      public boolean getGroundTruthMagneticFluxDensityNormAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets ground truth magnetic flux density norm to be expected at location where measurements have been made.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if ground truth magnetic flux density norm has been defined, false if it is not available yet.

    • getHardIronX

      public double getHardIronX()
      Gets known x-coordinate of magnetometer hard-iron bias. This is expressed in Teslas (T).
      Specified by:
      getHardIronX in interface KnownHardIronMagnetometerCalibrator
      Returns:
      known x-coordinate of magnetometer hard-iron bias.

    • setHardIronX

      public void setHardIronX(double hardIronX) throws com.irurueta.navigation.LockedException
      Sets known x-coordinate of magnetometer hard-iron bias. This is expressed in Teslas (T).
      Specified by:
      setHardIronX in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronX - known x-coordinate of magnetometer hard-iron bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronY

      public double getHardIronY()
      Gets known y-coordinate of magnetometer hard-iron bias. This is expressed in Teslas (T).
      Specified by:
      getHardIronY in interface KnownHardIronMagnetometerCalibrator
      Returns:
      known y-coordinate of magnetometer hard-iron bias.

    • setHardIronY

      public void setHardIronY(double hardIronY) throws com.irurueta.navigation.LockedException
      Sets known y-coordinate of magnetometer hard-iron bias. This is expressed in Teslas (T).
      Specified by:
      setHardIronY in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronY - known y-coordinate of magnetometer hard-iron bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronZ

      public double getHardIronZ()
      Gets known z-coordinate of magnetometer hard-iron bias. This is expressed in Teslas (T).
      Specified by:
      getHardIronZ in interface KnownHardIronMagnetometerCalibrator
      Returns:
      known z-coordinate of magnetometer hard-iron bias.

    • setHardIronZ

      public void setHardIronZ(double hardIronZ) throws com.irurueta.navigation.LockedException
      Sets known z-coordinate of magnetometer hard-iron bias. This is expressed in meters Teslas (T).
      Specified by:
      setHardIronZ in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronZ - known z-coordinate of magnetometer hard-iron bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronXAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getHardIronXAsMagneticFluxDensity()
      Gets known x coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronXAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Returns:
      x coordinate of magnetometer hard-iron.

    • getHardIronXAsMagneticFluxDensity

      public void getHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets known x coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronXAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setHardIronX

      public void setHardIronX(com.irurueta.units.MagneticFluxDensity hardIronX) throws com.irurueta.navigation.LockedException
      Sets known x-coordinate of magnetometer hard-iron.
      Specified by:
      setHardIronX in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronX - known x-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronYAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getHardIronYAsMagneticFluxDensity()
      Gets known y coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronYAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Returns:
      y coordinate of magnetometer hard-iron.

    • getHardIronYAsMagneticFluxDensity

      public void getHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets known y coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronYAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setHardIronY

      public void setHardIronY(com.irurueta.units.MagneticFluxDensity hardIronY) throws com.irurueta.navigation.LockedException
      Sets known y-coordinate of magnetometer hard-iron.
      Specified by:
      setHardIronY in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronY - known y-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronZAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getHardIronZAsMagneticFluxDensity()
      Gets known z coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronZAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Returns:
      z coordinate of magnetometer hard-iron.

    • getHardIronZAsMagneticFluxDensity

      public void getHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets known z coordinate of magnetometer hard-iron.
      Specified by:
      getHardIronZAsMagneticFluxDensity in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setHardIronZ

      public void setHardIronZ(com.irurueta.units.MagneticFluxDensity hardIronZ) throws com.irurueta.navigation.LockedException
      Sets known z-coordinate of magnetometer hard-iron.
      Specified by:
      setHardIronZ in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronZ - known z-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setHardIronCoordinates

      public void setHardIronCoordinates(double hardIronX, double hardIronY, double hardIronZ) throws com.irurueta.navigation.LockedException
      Sets known hard-iron bias coordinates of magnetometer expressed in Teslas (T).
      Specified by:
      setHardIronCoordinates in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronX - x-coordinate of magnetometer known hard-iron bias.
      hardIronY - y-coordinate of magnetometer known hard-iron bias.
      hardIronZ - z-coordinate of magnetometer known hard-iron bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setHardIronCoordinates

      public void setHardIronCoordinates(com.irurueta.units.MagneticFluxDensity hardIronX, com.irurueta.units.MagneticFluxDensity hardIronY, com.irurueta.units.MagneticFluxDensity hardIronZ) throws com.irurueta.navigation.LockedException
      Sets known hard-iron coordinates.
      Specified by:
      setHardIronCoordinates in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIronX - x-coordinate of magnetometer hard-iron.
      hardIronY - y-coordinate of magnetometer hard-iron.
      hardIronZ - z-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronAsTriad

      public MagneticFluxDensityTriad getHardIronAsTriad()
      Gets known hard-iron.
      Specified by:
      getHardIronAsTriad in interface KnownHardIronMagnetometerCalibrator
      Returns:
      known hard-iron.

    • getHardIronAsTriad

      public void getHardIronAsTriad(MagneticFluxDensityTriad result)
      Gets known hard-iron.
      Specified by:
      getHardIronAsTriad in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setHardIron

      public void setHardIron(MagneticFluxDensityTriad hardIron) throws com.irurueta.navigation.LockedException
      Sets known hard-iron.
      Specified by:
      setHardIron in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIron - 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.

    • getHardIron

      public double[] getHardIron()
      Gets known hard-iron bias as an array. Array values are expressed in Teslas (T).
      Specified by:
      getHardIron in interface KnownHardIronMagnetometerCalibrator
      Returns:
      array containing coordinates of known bias.

    • getHardIron

      public void getHardIron(double[] result)
      Gets known hard-iron bias as an array. Array values are expressed in Teslas (T).
      Specified by:
      getHardIron in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setHardIron

      public void setHardIron(double[] hardIron) throws com.irurueta.navigation.LockedException
      Sets known hard-iron bias as an array. Array values are expressed in Teslas (T).
      Specified by:
      setHardIron in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIron - known hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getHardIronMatrix

      public com.irurueta.algebra.Matrix getHardIronMatrix()
      Gets known hard-iron bias as a column matrix.
      Specified by:
      getHardIronMatrix in interface KnownHardIronMagnetometerCalibrator
      Returns:
      known hard-iron bias as a column matrix.

    • getHardIronMatrix

      public void getHardIronMatrix(com.irurueta.algebra.Matrix result)
      Gets known hard-iron bias as a column matrix.
      Specified by:
      getHardIronMatrix in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • setHardIron

      public void setHardIron(com.irurueta.algebra.Matrix hardIron) throws com.irurueta.navigation.LockedException
      Sets known hard-iron bias as a column matrix.
      Specified by:
      setHardIron in interface KnownHardIronMagnetometerCalibrator
      Parameters:
      hardIron - known hard-iron bias.
      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 Collection<StandardDeviationBodyMagneticFluxDensity> getMeasurements()
      Gets collection of body magnetic flux density measurements taken at a given position with different unknown orientations and containing the standard deviation of magnetometer measurements.
      Specified by:
      getMeasurements in interface UnorderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator
      Returns:
      collection of body magnetic flux density measurements at a known position and timestamp with unknown orientations.

    • setMeasurements

      public void setMeasurements(Collection<StandardDeviationBodyMagneticFluxDensity> measurements) throws com.irurueta.navigation.LockedException
      Sets collection of body magnetic flux density measurements taken at a given position with different unknown orientations and containing the standard deviation of magnetometer measurements.
      Specified by:
      setMeasurements in interface UnorderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator
      Parameters:
      measurements - collection of body magnetic flux density measurements at a known position and timestamp with unknown orientations.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator 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.

    • isQualityScoresRequired

      public boolean isQualityScoresRequired()
      Indicates whether this calibrator requires quality scores for each measurement or not.
      Specified by:
      isQualityScoresRequired in interface MagnetometerCalibrator
      Returns:
      true if quality scores are required, 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 L getListener()
      Gets listener to handle events raised by this calibrator.
      Returns:
      listener to handle events raised by this calibrator.

    • setListener

      public void setListener(L 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.
      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 not.
      Specified by:
      isRunning in interface MagnetometerCalibrator
      Returns:
      true if calibrator is running, false otherwise.

    • calibrate

      public void calibrate() throws com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException
      Estimates magnetometer calibration parameters containing scale factors and cross-coupling errors.
      Specified by:
      calibrate in interface MagnetometerCalibrator
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      com.irurueta.navigation.NotReadyException - if calibrator is not ready.
      CalibrationException - if calibration fails for numerical reasons.

    • 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.

    • 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): sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy.
      Specified by:
      getEstimatedCovariance in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated covariance matrix for estimated position.

    • getEstimatedChiSq

      public double getEstimatedChiSq()
      Gets estimated chi square value.
      Specified by:
      getEstimatedChiSq in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated chi square value.

    • getEstimatedChiSqDegreesOfFreedom

      public int getEstimatedChiSqDegreesOfFreedom()
      Gets estimated chi square degrees of freedom. Degrees of freedom is equal to the number of sampled data minus the number of estimated parameters.
      Specified by:
      getEstimatedChiSqDegreesOfFreedom in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated degrees of freedom of chi square value

    • getEstimatedReducedChiSq

      public double getEstimatedReducedChiSq()
      Gets estimated reduced chi square value. This is equal to estimated chi square value divided by its degrees of freedom. Ideally this value should be close to 1.0, indicating that fit is optimal. A value larger than 1.0 indicates that fit is not good or noise has been underestimated, and a value smaller than 1.0 indicates that there is overfitting or noise has been overestimated.
      Specified by:
      getEstimatedReducedChiSq in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated reduced 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.

    • getEstimatedP

      public double getEstimatedP()
      Gets estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0. The smaller the found chi square value is, the better the fit of the estimated parameters to the actual parameter. Thus, the smaller the chance of finding a smaller chi square value, then the better the estimated fit is.
      Specified by:
      getEstimatedP in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated probability of finding a smaller chi square value.

    • getEstimatedQ

      public double getEstimatedQ()
      Gets estimated measure of quality of estimated fit as a value between 0.0 and 1.0. The larger the quality value is, the better the fit that has been estimated.
      Specified by:
      getEstimatedQ in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated measure of quality of estimated fit.

    • onBeforeCalibrate

      protected void onBeforeCalibrate() throws CalibrationException
      Called before calibration occurs. This can be overridden by subclasses.
      Throws:
      CalibrationException - if anything fails.

    • internalSetGroundTruthMagneticFluxDensityNorm

      protected void internalSetGroundTruthMagneticFluxDensityNorm(Double groundTruthMagneticFluxDensityNorm)
      Internally sets ground truth magnetic flux density norm to be expected at location where measurements have been made, expressed in Teslas (T).
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm or null if undefined.
      Throws:
      IllegalArgumentException - if provided value is negative.

    • setInputData

      private void setInputData() throws com.irurueta.algebra.WrongSizeException
      Sets input data into Levenberg-Marquardt fitter.
      Throws:
      com.irurueta.algebra.WrongSizeException - never happens.

    • calibrateGeneral

      private void calibrateGeneral() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException
      Internal method to perform general calibration.
      Throws:
      com.irurueta.numerical.fitting.FittingException - if Levenberg-Marquardt fails for numerical reasons.
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities that prevent matrix inversion.
      com.irurueta.numerical.NotReadyException - never happens.

    • calibrateCommonAxis

      private void calibrateCommonAxis() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException
      Internal method to perform calibration when common z-axis is assumed for both the accelerometer and gyroscope.
      Throws:
      com.irurueta.numerical.fitting.FittingException - if Levenberg-Marquardt fails for numerical reasons.
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities that prevent matrix inversion.
      com.irurueta.numerical.NotReadyException - never happens.

    • setResult

      private void setResult(com.irurueta.algebra.Matrix m)
      Makes proper conversion of internal cross-coupling and bias matrices.
      Parameters:
      m - internal cross-coupling matrix.

    • evaluateGeneral

      private double evaluateGeneral(double[] params) throws com.irurueta.numerical.EvaluationException
      Computes estimated true magnetic flux density squared norm using current measured body magnetic flux density and provided parameters for the general case. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.
      Parameters:
      params - array containing current parameters for the general purpose case. Must have length 9.
      Returns:
      estimated true specific force squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

    • evaluateCommonAxis

      private double evaluateCommonAxis(double[] params) throws com.irurueta.numerical.EvaluationException
      Computes estimated true magnetic flux density squared norm using current measured body magnetic flux density and provided parameters when common z-axis is assumed. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.
      Parameters:
      params - array containing current parameters for the common z-axis case. Must have length 6.
      Returns:
      estimated true specific force squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

    • evaluate

      private double evaluate(double m11, double m21, double m31, double m12, double m22, double m32, double m13, double m23, double m33) throws com.irurueta.numerical.EvaluationException
      Computes estimated true magnetic flux density squared norm using current measured body magnetic flux density and provided parameters. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.
      Parameters:
      m11 - element 1,1 of cross-coupling error matrix.
      m21 - element 2,1 of cross-coupling error matrix.
      m31 - element 3,1 of cross-coupling error matrix.
      m12 - element 1,2 of cross-coupling error matrix.
      m22 - element 2,2 of cross-coupling error matrix.
      m32 - element 3,2 of cross-coupling error matrix.
      m13 - element 1,3 of cross-coupling error matrix.
      m23 - element 2,3 of cross-coupling error matrix.
      m33 - element 3,3 of cross-coupling error matrix.
      Returns:
      estimated true specific force squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

    • 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.