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