磁力计校准 (magnetometer_calibration)

该类用于对磁力计数据进行校准，具体步骤包括：

使用传感器数据逐步累积计算校准矩阵 P_k。
根据 P_k 的最小特征向量计算软铁矩阵 Sm、硬铁偏差向量 h，以及初始磁场 m_i0。
最终，通过 process 方法整理数据并输出校准参数。

class pywayne.calibration.magnetometer_calibration.MagnetometerCalibrator(method: str = 'close_form')

Bases: object

This class is designed for calibrating magnetometers. It employs sensor data from accelerometers, gyroscopes, and magnetometers to compute calibration parameters.

method

The method used for calibration, with ‘close_form’ as the default.

Type:: str

process(ts: ndarray, acc: ndarray, gyro: ndarray, mag: ndarray) → Tuple[ndarray, ndarray]

Processes the sensor data to compute the calibration parameters for the magnetometer.

Parameters:

ts (np.ndarray) – Timestamps of the sensor readings.
acc (np.ndarray) – Accelerometer data.
gyro (np.ndarray) – Gyroscope data.
mag (np.ndarray) – Magnetometer data.

Returns:

A tuple containing the soft-iron matrix (Sm) and the hard-iron vector (h).

Return type:

tuple

示例:

>>> from pywayne.calibration.magnetometer_calibration import MagnetometerCalibrator
>>> import numpy as np
>>> # 假设 ts, acc, gyro, mag 为已知的传感器数据数组
>>> calibrator = MagnetometerCalibrator()
>>> Sm, h = calibrator.process(ts, acc, gyro, mag)
>>> print("软铁矩阵:", Sm)
>>> print("硬铁偏差:", h)