- name
- pywayne-calibration-magnetometer-calibration
- description
- Sensor calibration toolkit with magnetometer calibration using close-form method. Use when calibrating IMU sensors (accelerometer, gyroscope, magnetometer) to compute soft-iron matrix and hard-iron offset for magnetometer correction. Requires sensor fusion with VQF for orientation estimation.
Pywayne Calibration
pywayne.calibration.MagnetometerCalibrator provides magnetometer calibration using sensor data (accelerometer, gyroscope, magnetometer).
Quick Start
from pywayne.calibration import MagnetometerCalibrator
import numpy as np
# Sensor data: ts (N,), acc (N,3), gyro (N,3), mag (N,3)
calibrator = MagnetometerCalibrator(method='close_form')
Sm, h = calibrator.process(ts, acc, gyro, mag)
# Sm: Soft-iron matrix (3x3)
# h: Hard-iron offset vector (3,)Input Data Format
Sensor data must be numpy arrays with matching sample counts:
ts # (N,) - Timestamps (seconds)
acc # (N, 3) - Accelerometer [ax, ay, az]
gyro # (N, 3) - Gyroscope [gx, gy, gz]
mag # (N, 3) - Magnetometer [mx, my, mz]Data requirements:
- Sensor data should cover various orientations for effective calibration
- Minimum data points required (exact number depends on calibration stability)
- Arrays must be C-contiguous (auto-converted internally)
Calibration Parameters
process() returns:
| Parameter | Shape | Description |
|---|---|---|
Sm | (3, 3) | Soft-iron matrix |
h | (3,) | Hard-iron offset vector |
Usage in Application
Apply calibration to raw magnetometer readings:
# Calibrated reading
m_calibrated = Sm @ (m_raw - h)Temporal Calibration
Temporal calibration module exists but is reserved for future expansion. Currently no functionality is implemented.
Important Notes
- Dependencies: Requires
vqf(VQF quaternion filter) andqmt(quaternion math) modules - Method: Currently only supports
close_formmethod - Orientation: Uses VQF for sensor fusion and orientation estimation during calibration
- Output: Prints calibration parameters during processing