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

Class KnownHardIronPositionAndInstantMagnetometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.magnetometer.BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<KnownHardIronPositionAndInstantMagnetometerCalibrator,KnownHardIronPositionAndInstantMagnetometerCalibratorListener>
com.irurueta.navigation.inertial.calibration.magnetometer.KnownHardIronPositionAndInstantMagnetometerCalibrator
All Implemented Interfaces:
KnownHardIronMagnetometerCalibrator, MagnetometerCalibrator, MagnetometerNonLinearCalibrator, UnorderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator
public class KnownHardIronPositionAndInstantMagnetometerCalibrator extends BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<KnownHardIronPositionAndInstantMagnetometerCalibrator,KnownHardIronPositionAndInstantMagnetometerCalibratorListener>
Estimates 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 known position and instant must be taken at 7 different unknown orientations and zero velocity when common z-axis is assumed, otherwise at least 10 measurements are required.

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

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

  • Field Details

    • position

      private com.irurueta.navigation.frames.NEDPosition position
      Position where body magnetic flux density measurements have been taken.

    • year

      private Double year
      Timestamp expressed as decimal year where magnetic flux density measurements have been measured.

    • magneticModel

      private WorldMagneticModel magneticModel
      Contains Earth's magnetic model.

  • Constructor Details

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

      public KnownHardIronPositionAndInstantMagnetometerCalibrator()
      Constructor.

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

      public KnownHardIronPositionAndInstantMagnetometerCalibrator(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.

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

      public KnownHardIronPositionAndInstantMagnetometerCalibrator(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.

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

      public KnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements)
      Constructor.
      Parameters:
      position - position where body magnetic flux density measurements have been taken.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

      public KnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyMagneticFluxDensity> measurements, KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body magnetic flux density measurements have been taken.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

      public KnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body magnetic flux density measurements have been taken.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

      public KnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements)
      Constructor.
      Parameters:
      position - position where body magnetic flux density measurements have been taken.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

      public KnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body magnetic flux density measurements have been taken.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

      public KnownHardIronPositionAndInstantMagnetometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body magnetic flux density measurements have been taken.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

    • KnownHardIronPositionAndInstantMagnetometerCalibrator

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

  • Method Details

    • getNedPosition

      public com.irurueta.navigation.frames.NEDPosition getNedPosition()
      Gets position where body magnetic flux density measurements have been taken.
      Returns:
      position where body magnetic flux density measurements have been taken.

    • setPosition

      public void setPosition(com.irurueta.navigation.frames.NEDPosition position) throws com.irurueta.navigation.LockedException
      Sets position where body magnetic flux density measurements have been taken.
      Parameters:
      position - position where body magnetic flux density measurements have been taken.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getEcefPosition

      public com.irurueta.navigation.frames.ECEFPosition getEcefPosition()
      Gets position where body magnetic flux density measurements have been taken expressed in ECEF coordinates.
      Returns:
      position where body magnetic flux density measurements have been taken or null if not available.

    • getEcefPosition

      public boolean getEcefPosition(com.irurueta.navigation.frames.ECEFPosition result)
      Gets position where body magnetic flux density measurements have been taken expressed in ECEF coordinates.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if ECEF position could be computed, false otherwise.

    • setPosition

      public void setPosition(com.irurueta.navigation.frames.ECEFPosition position) throws com.irurueta.navigation.LockedException
      Sets position where body magnetic flux density measurements have been taken expressed in ECEF coordinates.
      Parameters:
      position - position where body magnetic flux density have been taken.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getYear

      public Double getYear()
      Gets timestamp expressed as decimal year where magnetic flux density measurements have been measured.
      Returns:
      timestamp expressed as decimal year or null if not defined.

    • setYear

      public void setYear(Double year) throws com.irurueta.navigation.LockedException
      Sets timestamp expressed as decimal year where magnetic flux density measurements have been measured.
      Parameters:
      year - timestamp expressed as decimal year.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setTime

      public void setTime(Long timestampMillis) throws com.irurueta.navigation.LockedException
      Sets timestamp when magnetic flux density measurements have been measured.
      Parameters:
      timestampMillis - a timestamp expressed in milliseconds since epoch time (January 1st, 1970 at midnight).
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setTime

      public void setTime(Date date) throws com.irurueta.navigation.LockedException
      Sets timestamp when magnetic flux density measurements have been measured.
      Parameters:
      date - a date instance containing a timestamp.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setTime

      public void setTime(GregorianCalendar calendar) throws com.irurueta.navigation.LockedException
      Sets timestamp when magnetic flux density measurements have been measured.
      Parameters:
      calendar - a calendar instance containing a timestamp.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isReady

      public boolean isReady()
      Indicates whether calibrator is ready to start.
      Specified by:
      isReady in interface MagnetometerCalibrator
      Overrides:
      isReady in class BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<KnownHardIronPositionAndInstantMagnetometerCalibrator,KnownHardIronPositionAndInstantMagnetometerCalibratorListener>
      Returns:
      true if calibrator is ready, 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.

    • onBeforeCalibrate

      protected void onBeforeCalibrate() throws CalibrationException
      Called before calibration occurs. This can be overridden by subclasses.
      Overrides:
      onBeforeCalibrate in class BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<KnownHardIronPositionAndInstantMagnetometerCalibrator,KnownHardIronPositionAndInstantMagnetometerCalibratorListener>
      Throws:
      CalibrationException - if anything fails.

    • computeGroundTruthMagneticFluxDensityNorm

      private void computeGroundTruthMagneticFluxDensityNorm() throws CalibrationException
      Computes expected ground truth magnetic flux density norm based on World Magnetic Model. Notice that actual magnetic field measured by devices might differ from this value, since it might be attenuated or other devices might interfere.
      Throws:
      CalibrationException - if world magnetic model cannot be loaded.

    • convertTime

      private static Double convertTime(Long timestampMillis)
      Converts a time instance expressed in milliseconds since epoch time (January 1st, 1970 at midnight) to a decimal year.
      Parameters:
      timestampMillis - milliseconds value to be converted.
      Returns:
      converted value expressed in decimal years.

    • convertTime

      private static Double convertTime(Date date)
      Converts a time instant contained ina date object to a decimal year.
      Parameters:
      date - a time instance to be converted.
      Returns:
      converted value expressed in decimal years.

    • convertTime

      private static Double convertTime(GregorianCalendar calendar)
      Converts a time instant contained in a gregorian calendar to a decimal year.
      Parameters:
      calendar - calendar containing a specific instant to be converted.
      Returns:
      converted value expressed in decimal years.

    • convertPosition

      private static com.irurueta.navigation.frames.NEDPosition convertPosition(com.irurueta.navigation.frames.ECEFPosition position)
      Converts provided ECEF position to position expressed in NED coordinates.
      Parameters:
      position - ECEF position to be converted.
      Returns:
      converted position expressed in NED coordinates.