lib/com.irurueta.android.navigation.inertial.processors.attitude/KalmanAbsoluteAttitudeProcessor4

KalmanAbsoluteAttitudeProcessor4

class KalmanAbsoluteAttitudeProcessor4(location: Location? = null, var currentDate: Date? = null, var computeExternalAcceleration: Boolean = true, var computeEulerAngles: Boolean = true, val computeCovariances: Boolean = true, val computeEulerAnglesCovariance: Boolean = true, val fixMagnetometerMeasurements: Boolean = true, phiMatrixMethod: PhiMatrixMethod = PhiMatrixMethod.APPROXIMATED, processNoiseCovarianceMethod: ProcessNoiseCovarianceMethod = ProcessNoiseCovarianceMethod.BETTER, quaternionStepIntegrator: KalmanAbsoluteAttitudeProcessor4.QuaternionStepIntegratorType = QuaternionStepIntegratorType.RUNGE_KUTTA, val gyroscopeNoisePsd: Double = DEFAULT_GYROSCOPE_NOISE_PSD, val accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION, val magnetometerNoiseStandardDeviation: Double = DEFAULT_MAGNETOMETER_NOISE_STANDARD_DEVIATION, val processorListener: KalmanAbsoluteAttitudeProcessor4.OnProcessedListener? = null)

Estimates absolute attitude using a Kalman filter. This is based on: https://github.com/liviobisogni/quaternion-kalman-filter And: Young Soo Suh. Orientation estimation using a quaternion-based indirect Kalman filter with adaptive estimation of external acceleration.

Constructors

constructor(location: Location? = null, currentDate: Date? = null, computeExternalAcceleration: Boolean = true, computeEulerAngles: Boolean = true, computeCovariances: Boolean = true, computeEulerAnglesCovariance: Boolean = true, fixMagnetometerMeasurements: Boolean = true, phiMatrixMethod: PhiMatrixMethod = PhiMatrixMethod.APPROXIMATED, processNoiseCovarianceMethod: ProcessNoiseCovarianceMethod = ProcessNoiseCovarianceMethod.BETTER, quaternionStepIntegrator: KalmanAbsoluteAttitudeProcessor4.QuaternionStepIntegratorType = QuaternionStepIntegratorType.RUNGE_KUTTA, gyroscopeNoisePsd: Double = DEFAULT_GYROSCOPE_NOISE_PSD, accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION, magnetometerNoiseStandardDeviation: Double = DEFAULT_MAGNETOMETER_NOISE_STANDARD_DEVIATION, processorListener: KalmanAbsoluteAttitudeProcessor4.OnProcessedListener? = null)

Types

Companion

object Companion

OnProcessedListener

fun interface OnProcessedListener

Interface to notify when a new attitude has been processed.

QuaternionStepIntegratorType

enum QuaternionStepIntegratorType : Enum<KalmanAbsoluteAttitudeProcessor4.QuaternionStepIntegratorType>

Indicates type of quaternion integrator step. Different types exist with different levels of accuracy and computation accuracy.

Properties

accelerometerNoiseStandardDeviation

val accelerometerNoiseStandardDeviation: Double

val ba: Matrix

Estimated accelerometer bias.

val bg: Matrix

Estimated gyroscope bias.

bodyExternalAcceleration

val bodyExternalAcceleration: AccelerationTriad?

Estimated external acceleration applied on the device expressed in NED coordinates respect to device body.

computeCovariances

val computeCovariances: Boolean = true

computeEulerAngles

var computeEulerAngles: Boolean

computeEulerAnglesCovariance

val computeEulerAnglesCovariance: Boolean = true

computeExternalAcceleration

var computeExternalAcceleration: Boolean

currentDate

var currentDate: Date?

ecefAttitude

val ecefAttitude: Quaternion

Estimated device attitude expressed in ECEF coordinates respect to Earth.

ecefExternalAcceleration

val ecefExternalAcceleration: AccelerationTriad?

Estimated external acceleration applied on the device expressed in ECEF coordinates respect to Earth.

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 estimated Euler angles for NED attitude. This is only available if computeCovariances and computeEulerAnglesCovariance are true.

fixMagnetometerMeasurements

val fixMagnetometerMeasurements: Boolean = true

gravityNorm

var gravityNorm: Double

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

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 Norm magnetic pole is +90º, and at South magnetic pole 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).

magnetometerNoiseStandardDeviation

val magnetometerNoiseStandardDeviation: Double

nedAttitude

val nedAttitude: Quaternion

Estimated device attitude expressed in leveled local NED coordinates respect to Earth.

nedAttitudeCovariance

val nedAttitudeCovariance: Matrix?

Error covariance of estimated quaternion attitude expressed in NED coordinates. This is only available if computeCovariances is true.

nedExternalAcceleration

val nedExternalAcceleration: AccelerationTriad?

Estimated external acceleration applied on the device expressed in leveled local NED coordinates respect to Earth.

processorListener

val processorListener: KalmanAbsoluteAttitudeProcessor4.OnProcessedListener? = null

timeIntervalSeconds

var timeIntervalSeconds: Double

Time interval between measurements expressed in seconds (s).

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

getAccelerometerBias

fun getAccelerometerBias(result: AccelerationTriad)

Gets estimated accelerometer bias.

getGyroscopeBias

fun getGyroscopeBias(result: AngularSpeedTriad)

Gets estimated gyroscope bias.

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 parameter.