/*
    * Copyright (C) 2020 Alberto Irurueta Carro (alberto@irurueta.com)
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *         http://www.apache.org/licenses/LICENSE-2.0
    *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  package com.irurueta.navigation.inertial.calibration.magnetometer;
  
  import com.irurueta.algebra.Matrix;
  import com.irurueta.navigation.LockedException;
  import com.irurueta.navigation.frames.ECEFPosition;
  import com.irurueta.navigation.frames.ECEFVelocity;
  import com.irurueta.navigation.frames.NEDPosition;
  import com.irurueta.navigation.frames.NEDVelocity;
  import com.irurueta.navigation.frames.converters.ECEFtoNEDPositionVelocityConverter;
  import com.irurueta.navigation.frames.converters.NEDtoECEFPositionVelocityConverter;
  import com.irurueta.navigation.inertial.calibration.CalibrationException;
  import com.irurueta.navigation.inertial.calibration.StandardDeviationBodyMagneticFluxDensity;
  import com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator;
  import com.irurueta.navigation.inertial.wmm.WorldMagneticModel;
  
  import java.io.IOException;
  import java.util.Collection;
  import java.util.Date;
  import java.util.GregorianCalendar;
  import java.util.List;
  
  /**
   * Estimates magnetometer cross couplings and scaling factors.
   * This calibrator uses Levenberg-Marquardt to find a minimum least squared
   * error solution.
   * <p>
   * 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.
   * <p>
   * Measured magnetic flux density is assumed to follow the model shown below:
   * <pre>
   *     mBmeas = bm + (I + Mm) * mBtrue + w
   * </pre>
   * 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.
   */
  public class KnownHardIronPositionAndInstantMagnetometerCalibrator extends
          BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator<
                  KnownHardIronPositionAndInstantMagnetometerCalibrator,
                  KnownHardIronPositionAndInstantMagnetometerCalibratorListener> {
  
      /**
       * Position where body magnetic flux density measurements have been
       * taken.
       */
      private NEDPosition position;
  
      /**
       * Timestamp expressed as decimal year where magnetic flux density
       * measurements have been measured.
       */
      private Double year = convertTime(System.currentTimeMillis());
  
      /**
       * Contains Earth's magnetic model.
       */
      private WorldMagneticModel magneticModel;
  
      /**
       * Constructor.
       */
      public KnownHardIronPositionAndInstantMagnetometerCalibrator() {
          super();
      }
  
      /**
       * Constructor.
       *
       * @param listener listener to handle events raised by this calibrator.
       */
      public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         super(listener);
     }
 
     /**
      * Constructor.
      *
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final Collection<StandardDeviationBodyMagneticFluxDensity> measurements) {
         super(measurements);
     }
 
     /**
      * Constructor.
      *
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(final boolean commonAxisUsed) {
         super(commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param magneticModel Earth's magnetic model. If null, a default model
      *                      will be used instead.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(final WorldMagneticModel magneticModel) {
         super();
         this.magneticModel = magneticModel;
     }
 
     /**
      * Constructor.
      *
      * @param hardIron known hard-iron.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(final double[] hardIron) {
         super(hardIron);
     }
 
     /**
      * Constructor.
      *
      * @param hardIron known hard-iron.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(final Matrix hardIron) {
         super(hardIron);
     }
 
     /**
      * Constructor.
      *
      * @param hardIron  known hard-iron.
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(final Matrix hardIron, final Matrix initialMm) {
         super(hardIron, initialMm);
     }
 
     /**
      * Constructor.
      *
      * @param position position where body magnetic flux density measurements
      *                 have been taken.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(final NEDPosition position) {
         super();
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements) {
         super(measurements);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param listener     listener to handle events raised by this calibrator.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final Collection<StandardDeviationBodyMagneticFluxDensity> measurements,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         super(measurements, listener);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed) {
         super(measurements, commonAxisUsed);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param listener       listener to handle events raised by this calibrator.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         super(measurements, commonAxisUsed, listener);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final double[] hardIron) {
         super(measurements, hardIron);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @param listener     listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final double[] hardIron, final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         super(measurements, hardIron, listener);
         this.position = position;
     }
 
     /**
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final double[] hardIron) {
         super(measurements, commonAxisUsed, hardIron);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @param listener       listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final double[] hardIron,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         super(measurements, commonAxisUsed, hardIron, listener);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix hardIron) {
         super(measurements, hardIron);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @param listener     listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix hardIron, final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         super(measurements, hardIron, listener);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix hardIron) {
         super(measurements, commonAxisUsed, hardIron);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @param listener       listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix hardIron,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         super(measurements, commonAxisUsed, hardIron, listener);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix hardIron, final Matrix initialMm) {
         super(measurements, hardIron, initialMm);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @param initialMm    initial soft-iron matrix containing scale factors
      *                     and cross coupling errors.
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix hardIron, final Matrix initialMm,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         super(measurements, hardIron, initialMm, listener);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix hardIron, final Matrix initialMm) {
         super(measurements, commonAxisUsed, hardIron, initialMm);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @param initialMm      initial soft-iron matrix containing scale factors
      *                       and cross coupling errors.
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final NEDPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix hardIron, final Matrix initialMm,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         super(measurements, commonAxisUsed, hardIron, initialMm, listener);
         this.position = position;
     }
 
     /**
      * Constructor.
      *
      * @param position position where body magnetic flux density measurements
      *                 have been taken.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(final ECEFPosition position) {
         this(convertPosition(position));
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements) {
         this(convertPosition(position), measurements);
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param listener     listener to handle events raised by this calibrator.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         this(convertPosition(position), measurements, listener);
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed) {
         this(convertPosition(position), measurements, commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param listener       listener to handle events raised by this calibrator.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         this(convertPosition(position), measurements, commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final double[] hardIron) {
         this(convertPosition(position), measurements, hardIron);
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @param listener     listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final double[] hardIron, final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         this(convertPosition(position), measurements, hardIron, listener);
     }
 
     /**
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final double[] hardIron) {
         this(convertPosition(position), measurements, commonAxisUsed, hardIron);
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @param listener       listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final double[] hardIron,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         this(convertPosition(position), measurements, commonAxisUsed, hardIron, listener);
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix hardIron) {
         this(convertPosition(position), measurements, hardIron);
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @param listener     listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix hardIron, final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         this(convertPosition(position), measurements, hardIron, listener);
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix hardIron) {
         this(convertPosition(position), measurements, commonAxisUsed, hardIron);
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @param listener       listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix hardIron,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         this(convertPosition(position), measurements, commonAxisUsed, hardIron, listener);
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix hardIron, final Matrix initialMm) {
         this(convertPosition(position), measurements, hardIron, initialMm);
     }
 
     /**
      * Constructor.
      *
      * @param position     position where body magnetic flux density measurements
      *                     have been taken.
      * @param 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.
      * @param hardIron     known hard-iron.
      * @param initialMm    initial soft-iron matrix containing scale factors
      *                     and cross coupling errors.
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix hardIron, final Matrix initialMm,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         this(convertPosition(position), measurements, hardIron, initialMm, listener);
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix hardIron, final Matrix initialMm) {
         this(convertPosition(position), measurements, commonAxisUsed, hardIron, initialMm);
     }
 
     /**
      * Constructor.
      *
      * @param position       position where body magnetic flux density measurements
      *                       have been taken.
      * @param 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.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param hardIron       known hard-iron.
      * @param initialMm      initial soft-iron matrix containing scale factors
      *                       and cross coupling errors.
      * @param 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.
      */
     public KnownHardIronPositionAndInstantMagnetometerCalibrator(
             final ECEFPosition position, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix hardIron, final Matrix initialMm,
             final KnownHardIronPositionAndInstantMagnetometerCalibratorListener listener) {
         this(convertPosition(position), measurements, commonAxisUsed, hardIron, initialMm, listener);
     }
 
     /**
      * Gets position where body magnetic flux density measurements have been
      * taken.
      *
      * @return position where body magnetic flux density measurements have
      * been taken.
      */
     public NEDPosition getNedPosition() {
         return position;
     }
 
     /**
      * Sets position where body magnetic flux density measurements have been
      * taken.
      *
      * @param position position where body magnetic flux density measurements
      *                 have been taken.
      * @throws LockedException if calibrator is currently running.
      */
     public void setPosition(final NEDPosition position) throws LockedException {
         if (isRunning()) {
             throw new LockedException();
         }
 
         this.position = position;
     }
 
     /**
      * Gets position where body magnetic flux density measurements have been
      * taken expressed in ECEF coordinates.
      *
      * @return position where body magnetic flux density measurements have
      * been taken or null if not available.
      */
     public ECEFPosition getEcefPosition() {
         if (position != null) {
             final var result = new ECEFPosition();
             getEcefPosition(result);
             return result;
         } else {
             return null;
         }
     }
 
     /**
      * Gets position where body magnetic flux density measurements have been
      * taken expressed in ECEF coordinates.
      *
      * @param result instance where result will be stored.
      * @return true if ECEF position could be computed, false otherwise.
      */
     public boolean getEcefPosition(final ECEFPosition result) {
         if (position != null) {
             final var velocity = new ECEFVelocity();
             NEDtoECEFPositionVelocityConverter.convertNEDtoECEF(
                     position.getLatitude(), position.getLongitude(), position.getHeight(),
                     0.0, 0.0, 0.0, result, velocity);
             return true;
         } else {
             return false;
         }
     }
 
     /**
      * Sets position where body magnetic flux density measurements have been
      * taken expressed in ECEF coordinates.
      *
      * @param position position where body magnetic flux density have been
      *                 taken.
      * @throws LockedException if calibrator is currently running.
      */
     public void setPosition(final ECEFPosition position) throws LockedException {
         if (isRunning()) {
             throw new LockedException();
         }
 
         this.position = convertPosition(position);
     }
 
     /**
      * Gets timestamp expressed as decimal year where magnetic flux density
      * measurements have been measured.
      *
      * @return timestamp expressed as decimal year or null if not defined.
      */
     public Double getYear() {
         return year;
     }
 
     /**
      * Sets timestamp expressed as decimal year where magnetic flux density
      * measurements have been measured.
      *
      * @param year timestamp expressed as decimal year.
      * @throws LockedException if calibrator is currently running.
      */
     public void setYear(final Double year) throws LockedException {
         if (isRunning()) {
             throw new LockedException();
         }
         this.year = year;
     }
 
     /**
      * Sets timestamp when magnetic flux density measurements have been
      * measured.
      *
      * @param timestampMillis a timestamp expressed in milliseconds since
      *                        epoch time (January 1st, 1970 at midnight).
      * @throws LockedException if calibrator is currently running.
      */
     public void setTime(final Long timestampMillis) throws LockedException {
         if (isRunning()) {
             throw new LockedException();
         }
         year = convertTime(timestampMillis);
     }
 
     /**
      * Sets timestamp when magnetic flux density measurements have been
      * measured.
      *
      * @param date a date instance containing a timestamp.
      * @throws LockedException if calibrator is currently running.
      */
     public void setTime(final Date date) throws LockedException {
         if (isRunning()) {
             throw new LockedException();
         }
         year = convertTime(date);
     }
 
     /**
      * Sets timestamp when magnetic flux density measurements have been
      * measured.
      *
      * @param calendar a calendar instance containing a timestamp.
      * @throws LockedException if calibrator is currently running.
      */
     public void setTime(final GregorianCalendar calendar) throws LockedException {
         if (isRunning()) {
             throw new LockedException();
         }
         year = convertTime(calendar);
     }
 
     /**
      * Indicates whether calibrator is ready to start.
      *
      * @return true if calibrator is ready, false otherwise.
      */
     @Override
     public boolean isReady() {
         return super.isReady() && position != null && year != null;
     }
 
     /**
      * Gets Earth's magnetic model.
      *
      * @return Earth's magnetic model or null if not provided.
      */
     public WorldMagneticModel getMagneticModel() {
         return magneticModel;
     }
 
     /**
      * Sets Earth's magnetic model.
      *
      * @param magneticModel Earth's magnetic model to be set.
      * @throws LockedException if calibrator is currently running.
      */
     public void setMagneticModel(final WorldMagneticModel magneticModel) throws LockedException {
         if (isRunning()) {
             throw new LockedException();
         }
         this.magneticModel = magneticModel;
     }
 
     /**
      * Called before calibration occurs.
      * This can be overridden by subclasses.
      *
      * @throws CalibrationException if anything fails.
      */
     @Override
     protected void onBeforeCalibrate() throws CalibrationException {
         computeGroundTruthMagneticFluxDensityNorm();
     }
 
     /**
      * 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.
      */
     private void computeGroundTruthMagneticFluxDensityNorm() throws CalibrationException {
         final WMMEarthMagneticFluxDensityEstimator wmmEstimator;
         if (magneticModel != null) {
             wmmEstimator = new WMMEarthMagneticFluxDensityEstimator(magneticModel);
         } else {
             try {
                 wmmEstimator = new WMMEarthMagneticFluxDensityEstimator();
             } catch (final IOException e) {
                 throw new CalibrationException(e);
             }
         }
 
         final var pos = getNedPosition();
         final var earthB = wmmEstimator.estimate(pos, year);
         groundTruthMagneticFluxDensityNorm = earthB.getNorm();
     }
 
     /**
      * Converts a time instance expressed in milliseconds since epoch time
      * (January 1st, 1970 at midnight) to a decimal year.
      *
      * @param timestampMillis milliseconds value to be converted.
      * @return converted value expressed in decimal years.
      */
     private static Double convertTime(final Long timestampMillis) {
         if (timestampMillis == null) {
             return null;
         }
 
         final var calendar = new GregorianCalendar();
         calendar.setTimeInMillis(timestampMillis);
         return convertTime(calendar);
     }
 
     /**
      * Converts a time instant contained ina date object to a
      * decimal year.
      *
      * @param date a time instance to be converted.
      * @return converted value expressed in decimal years.
      */
     private static Double convertTime(final Date date) {
         if (date == null) {
             return null;
         }
 
         final var calendar = new GregorianCalendar();
         calendar.setTime(date);
         return convertTime(calendar);
     }
 
     /**
      * Converts a time instant contained in a gregorian calendar to a
      * decimal year.
      *
      * @param calendar calendar containing a specific instant to be
      *                 converted.
      * @return converted value expressed in decimal years.
      */
     private static Double convertTime(final GregorianCalendar calendar) {
         if (calendar == null) {
             return null;
         }
 
         return WMMEarthMagneticFluxDensityEstimator.convertTime(calendar);
     }
 
     /**
      * Converts provided ECEF position to position expressed in NED
      * coordinates.
      *
      * @param position ECEF position to be converted.
      * @return converted position expressed in NED coordinates.
      */
     private static NEDPosition convertPosition(final ECEFPosition position) {
         final var velocity = new NEDVelocity();
         final var result = new NEDPosition();
         ECEFtoNEDPositionVelocityConverter.convertECEFtoNED(
                 position.getX(), position.getY(), position.getZ(),
                 0.0, 0.0, 0.0, result, velocity);
         return result;
     }
 }