public override decimal[] calibrate()
{
Func <decimal[], decimal[, ]> J = new Func <decimal[], decimal[, ]>(computeJ);
Func <decimal[], decimal[]> r = new Func <decimal[], decimal[]>(computeR);
decimal[] p = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0 };
decimal[,] M, Mfinal = new decimal[3, 3] {
{ 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }
};
decimal[] b, bFinal = new decimal[3] {
0, 0, 0
};
for (int j = 0; j < 10; j++)
{
p = Optimization.GaussNewton(J, r, p);
M = new decimal[, ] {
{ p[0], p[1], p[2] }, { p[3], p[4], p[5] }, { p[6], p[7], p[8] }
};
b = new decimal[] { p[9], p[10], p[11] };
Mfinal = MathDecimal.Prod(Mfinal, M);
bFinal = MathDecimal.Sum(MathDecimal.Prod(M, bFinal), b);
for (int i = 0; i < data.Count; i++)
{
data[i].data = MathDecimal.Sum(b, MathDecimal.Prod(M, data[i].data));
}
//scale with respect to the gravitational acceleration
/*decimal[] rGravity = new decimal[data.Count];
* for (int i = 0; i < rGravity.GetLength(0); i++)
* rGravity[i] = Preferences.G;
* decimal[,] M = new decimal[,] { { p[0], p[1], p[2] }, { p[3], p[4], p[5] }, { p[6], p[7], p[8] } };
* decimal[] b = new decimal[] { p[9], p[10], p[11] };
* decimal[,] JGravity = new decimal[data.Count,1];
* for (int i = 0; i < rGravity.GetLength(0); i++)
* JGravity[i,1] = MathDecimal.Norm2(MathDecimal.Sum(MathDecimal.Prod(M, data[i].data),b));
* decimal Q = Optimization.LinearLeastSquares(JGravity, rGravity)[1];
* p = MathDecimal.Prod(Q, p);*/
}
pars = new CalibrationParameter(Mfinal[0, 0], Mfinal[0, 1], Mfinal[0, 2], Mfinal[1, 0], Mfinal[1, 1], Mfinal[1, 2], Mfinal[2, 0], Mfinal[2, 1], Mfinal[2, 2], bFinal[0], bFinal[1], bFinal[2]);
return(p);
}
public Accelerometer(List <Measurement> data, CalibrationParameter pars = null) : base(data, pars)
{
}
public Sensor(List <Measurement> data, CalibrationParameter pars = null)
{
this.data = data;
this.pars = pars;
}