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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.
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| 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.MagnetometerCalibrator provides magnetometer calibration using sensor data (accelerometer, gyroscope, magnetometer).
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,)
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:
process() returns:
| Parameter | Shape | Description |
|---|---|---|
Sm | (3, 3) | Soft-iron matrix |
h | (3,) | Hard-iron offset vector |
Apply calibration to raw magnetometer readings:
# Calibrated reading
m_calibrated = Sm @ (m_raw - h)
Temporal calibration module exists but is reserved for future expansion. Currently no functionality is implemented.
vqf (VQF quaternion filter) and qmt (quaternion math) modulesclose_form methodprocess() uses VQF/qmt batch operations and solves the final accumulated calibration matrix once