Gyroscope
Builds a gyroscope calibrator to be used internally by other calibrators.
Constructors
Constructor.
Properties
x-coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2).
y-coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2).
z-coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2).
accelerometer x-y cross coupling error.
accelerometer x-z cross coupling error.
accelerometer y-x cross coupling error.
accelerometer y-z cross coupling error.
accelerometer z-x cross coupling error.
accelerometer z-y cross coupling error.
accelerometer initial x scaling factor.
accelerometer initial y scaling factor.
accelerometer initial z scaling factor.
gyroscope measurement base noise level that has been detected during initialization expressed in radians per second (rad/s).
Gets or sets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
x-coordinate of gyroscope bias used as an initial guess and expressed in radians per second (rad/s).
y-coordinate of gyroscope bias used as an initial guess and expressed in radians per second (rad/s).
z-coordinate of gyroscope bias used as an initial guess and expressed in radians per second (rad/s).
initial x-y cross coupling error for gyroscope calibration.
initial x-z cross coupling error for gyroscope calibration.
initial y-x cross coupling error for gyroscope calibration.
initial y-z cross coupling error for gyroscope calibration.
initial z-x cross coupling error for gyroscope calibration.
initial z-y cross coupling error for gyroscope calibration.
Indicates or specifies whether z-axis is assumed to be common for magnetometer and gyroscope.
Indicates whether G-dependent cross biases are being estimated or not.
Indicates whether gyroscope initial bias is considered a ground-truth known bias.
List of gyroscope measurements.
Minimum number of required measurements to start gyroscope calibration.
mapper to convert collected gyroscope measurements into quality scores, based on the amount of standard deviation (the larger the variability, the worse the score will be).
Confidence of estimated gyroscope calibration result expressed as a value between 0.0 and 1.0. By default 99% of confidence is used, which indicates that with a probability of 99% estimation will be accurate because chosen sub-samples will be inliers (in other terms, outliers will be correctly discarded). This property is only taken into account if a not-null robustMethod is specified.
Maximum number of iterations to attempt to find a robust gyroscope calibration solution. By default this is 5000. This property is only taken into account if a not-null robustMethod is specified.
Indicates robust method used to solve gyroscope calibration.
Size of preliminary subsets picked while finding a robust gyroscope calibration solution. This properly is only taken into account if a not-null robustMethod is specified.
Additional factor to be taken into account for robust methods based on LMedS or PROMedS, where factor is not directly related to LMSE, but to a smaller value. This only applies to gyroscope calibration.
Threshold to be used to determine whether a measurement is considered an outlier by robust gyroscope calibration algorithms or not. Threshold varies depending on chosen robustMethod. By default, if null is provided, the estimated baseNoiseLevel will be used to determine a suitable threshold. Otherwise, if a value is provided, such value will be used instead. This properly is only taken into account if a not-null robustMethod is specified.
Factor to be used respect estimated gyroscope base noise level to consider a measurement an outlier when using robust calibration methods. By default this is 3.0 times baseNoiseLevel, which considering the noise level as the standard deviation of a Gaussian distribution, should account for 99% of the cases. Any measurement having an error greater than that in the estimated solution, will be considered an outlier and be discarded.