lib/com.irurueta.android.navigation.inertial.processors.attitude/KalmanAbsoluteAttitudeProcessor3

KalmanAbsoluteAttitudeProcessor3

class KalmanAbsoluteAttitudeProcessor3(location: Location? = null, var currentDate: Date? = null, var currentTemperature: Double = DEFAULT_TEMPERATURE_CELSIUS, val computeEulerAngles: Boolean = true, val computeCovariances: Boolean = true, val computeEcefAttitudeCovariance: Boolean = true, val computeEulerAnglesCovariance: Boolean = true, val computeEcefAccelerationCovariance: Boolean = true, val computeNedRotationAxisCovariance: Boolean = true, val gyroscopeNoisePsd: Double = DEFAULT_GYROSCOPE_NOISE_PSD, val accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION, magnetometerNoiseStandardDeviation: Double = DEFAULT_MAGNETOMETER_NOISE_STANDARD_DEVIATION, temperatureStandardDeviation: Double = DEFAULT_TEMPERATURE_NOISE_STANDARD_DEVIATION, quaternionStepIntegratorType: QuaternionStepIntegratorType = QuaternionStepIntegrator.DEFAULT_TYPE, val freeFallThreshold: Double = DEFAULT_FREE_FALL_THRESHOLD, val symmetricThreshold: Double = SYMMETRIC_THRESHOLD, val processorListener: KalmanAbsoluteAttitudeProcessor3.OnProcessedListener? = null, val numericalInstabilitiesListener: KalmanAbsoluteAttitudeProcessor3.OnNumericalInstabilitiesDetectedListener? = null)

Class.

Parameters

location

Gets or sets current device location. If null, it is assumed that device is located at magnetic field equator (with zero dip and declination angles). This is only taken into account if useWorldMagneticModel is true.

currentDate

Timestamp being used when World Magnetic Model is evaluated to obtain current magnetic dip and declination angles. This is only taken into account if useWorldMagneticModel is true. If not defined, current date is assumed.

Constructors

KalmanAbsoluteAttitudeProcessor3

constructor(location: Location? = null, currentDate: Date? = null, currentTemperature: Double = DEFAULT_TEMPERATURE_CELSIUS, computeEulerAngles: Boolean = true, computeCovariances: Boolean = true, computeEcefAttitudeCovariance: Boolean = true, computeEulerAnglesCovariance: Boolean = true, computeEcefAccelerationCovariance: Boolean = true, computeNedRotationAxisCovariance: Boolean = true, gyroscopeNoisePsd: Double = DEFAULT_GYROSCOPE_NOISE_PSD, accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION, magnetometerNoiseStandardDeviation: Double = DEFAULT_MAGNETOMETER_NOISE_STANDARD_DEVIATION, temperatureStandardDeviation: Double = DEFAULT_TEMPERATURE_NOISE_STANDARD_DEVIATION, quaternionStepIntegratorType: QuaternionStepIntegratorType = QuaternionStepIntegrator.DEFAULT_TYPE, freeFallThreshold: Double = DEFAULT_FREE_FALL_THRESHOLD, symmetricThreshold: Double = SYMMETRIC_THRESHOLD, processorListener: KalmanAbsoluteAttitudeProcessor3.OnProcessedListener? = null, numericalInstabilitiesListener: KalmanAbsoluteAttitudeProcessor3.OnNumericalInstabilitiesDetectedListener? = null)

Types

Companion

object Companion

OnNumericalInstabilitiesDetectedListener

fun interface OnNumericalInstabilitiesDetectedListener

Interface to notify when error covariances are reset because numerical instabilities have been detected in Kalman filter.

OnProcessedListener

fun interface OnProcessedListener

Interface to notify when a new attitude has been processed.

Properties

accelerometerNoiseStandardDeviation

val accelerometerNoiseStandardDeviation: Double

computeCovariances

val computeCovariances: Boolean = true

computeEcefAccelerationCovariance

val computeEcefAccelerationCovariance: Boolean = true

computeEcefAttitudeCovariance

val computeEcefAttitudeCovariance: Boolean = true

computeEulerAngles

val computeEulerAngles: Boolean = true

computeEulerAnglesCovariance

val computeEulerAnglesCovariance: Boolean = true

computeNedRotationAxisCovariance

val computeNedRotationAxisCovariance: Boolean = true

currentDate

var currentDate: Date?

currentTemperature

var currentTemperature: Double

ecefAcceleration

val ecefAcceleration: AccelerationTriad

Contains estimated linear acceleration applied to the device (which is equal to the sensed specific force minus the gravity component) expressed in ECEF coordinates. By integrating linear acceleration speed can be estimated, and by double integration, ECEF position can be estimated as well.

ecefAccelerationCovariance

val ecefAccelerationCovariance: Matrix?

Error covariance of estimated ECEF acceleration state. This is only available if [computeCovariances and computeEcefAccelerationCovariance] are true.

ecefAttitude

val ecefAttitude: Quaternion

Estimated ECEF attitude.

ecefAttitudeCovariance

val ecefAttitudeCovariance: Matrix?

Error covariance of estimated quaternion attitude expressed in ECEF coordinates. This is only available if computeCovariances and computeEcefAttitudeCovariance are true.

eulerAngles

val eulerAngles: DoubleArray?

Euler angles associated to estimated NED attitude. Array contains roll, pitch and yaw angles expressed in radians (rad) and following order indicated here. This is only available if computeCovariances and computeEulerAngles are true.

eulerAnglesCovariance

val eulerAnglesCovariance: Matrix?

Error covariance of estimate Euler angles for local NED attitude. This is only available if computeCovariances and computeEulerAnglesCovariance are true.

freeFallThreshold

val freeFallThreshold: Double

gravityNorm

var gravityNorm: Double

Gets expected gravity norm at current location. If no location is available, average gravity at sea level is returned instead.

gyroscopeIntervalSeconds

var gyroscopeIntervalSeconds: Double

Gyroscope interval between measurements expressed in seconds (s).

gyroscopeNoisePsd

val gyroscopeNoisePsd: Double

location

var location: Location?

Gets or sets current device location.

magneticDeclination

var magneticDeclination: Double

Obtains magnetic field declination of local NED reference system expressed in radians if World Magnetic Model is used, otherwise zero is returned. Magnetic field declination indicates how much deviation the heading angle has between the magnetic north pole and the true geographic north pole.

magneticDip

var magneticDip: Double

Returns magnetic field dip angle of local NED reference system expressed in radians if World Magnetic Model is used, otherwise zero is returned. Magnetic field dip angle indicates how much the magnetic field points towards Earth's center. At magnetic equator dip angle is zero, at North magnetic pole is +90º, and at South magnetic pose is -90º. At the north hemisphere dip angle is positive (magnetic field points downwards), indicating the vertical deviation of magnetic field respect local Earth surface at a given position (latitude, longitude and height) At the south hemisphere dip angle is negative (magnetic field points upwards), indicating the vertical deviation of magnetic field respect local Earth surface at a given position (latitude, longitude and height)

nedAttitude

val nedAttitude: Quaternion

Gets current local body attitude expressed in NED coordinate system.

nedRotationAxisCovariance

val nedRotationAxisCovariance: Matrix?

Error covariance of estimated local body rotation axis expressed in NED coordinates. This is only available if computeCovariances and computeNedRotationAxisCovariance are true.

numericalInstabilitiesListener

val numericalInstabilitiesListener: KalmanAbsoluteAttitudeProcessor3.OnNumericalInstabilitiesDetectedListener? = null

processorListener

val processorListener: KalmanAbsoluteAttitudeProcessor3.OnProcessedListener? = null

symmetricThreshold

val symmetricThreshold: Double

useWorldMagneticModel

var useWorldMagneticModel: Boolean

Indicates whether world magnetic model is taken into account magnetic field dip and declination angles, so that orientation pointing to the true north is estimated.

worldMagneticModel

var worldMagneticModel: WorldMagneticModel?

Earth's magnetic model. If null, the default model is used if useWorldMagneticModel is true. If useWorldMagneticModel is false, this is ignored.

Functions

process

fun process(syncedMeasurement: AccelerometerGyroscopeAndMagnetometerSyncedSensorMeasurement): Boolean

Processes provided synced accelerometer, gyroscope and magnetometer measurement to obtain a relative leveled attitude.

fun process(accelerometerMeasurement: AccelerometerSensorMeasurement, gyroscopeMeasurement: GyroscopeSensorMeasurement, magnetometerMeasurement: MagnetometerSensorMeasurement, timestamp: Long = gyroscopeMeasurement.timestamp): Boolean

Processes provided accelerometer, gyroscope and magnetometer measurements at provided timestamp to obtain a relative leveled attitude.

reset

fun reset()

Resets internal parameters.