3D magnetometer calibration utility for Rust

This library is built to support no_std and uses nalgebra to do matrix operations and is therefore fit for use in highly embedded Rust applications. The primary object is the MagCalibrator<N>, which does two things:

• Accept a sample ([f32; 3] or Vector3<f32>) from the user and evaluate whether it is "more unique than the least unique sample in the N-element buffer" and if it is, add it to the buffer, removing the less useful sample. Otherwise ignore it.
• When the mean distance between the samples is above a threshold (decided by the user), MagCalibrator::perform_calibration() is called. This uses least squares to obtain the best-fitting offset and scale parameters for the sample set.

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This functionality is illustrated in the following image. Left shows a large set of uncalibrated samples, the sphere of which has a large offset from the origin. Right shows the set of "N most unique" samples (N = 50 in this case), which have been used for calibrating the same set of samples. Notice how the sampels are fitted to the unit sphere around the origin.

Origin

This library was written as an assignment "mini-project" for a course on Sensors and Systems at Aalborg University. The handed-in paper can be found in Mini-project.pdf.

License

The code in this repository is licensed under the Apache 2.0 License.