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

KalmanAccelerometerCorrector

class KalmanAccelerometerCorrector(val externalAccelerationCovarianceMatrixEstimationMethod: ExternalAccelerationCovarianceMatrixEstimationMethod = DEFAULT_EXTERNAL_ACCELERATION_COVARIANCE_MATRIX_ESTIMATION_METHOD)

Corrects Kalman state from accelerometer measurement.

Constructors

constructor(externalAccelerationCovarianceMatrixEstimationMethod: ExternalAccelerationCovarianceMatrixEstimationMethod = DEFAULT_EXTERNAL_ACCELERATION_COVARIANCE_MATRIX_ESTIMATION_METHOD)

Types

Companion

object Companion

Properties

accelerometerNoiseStandardDeviation

var accelerometerNoiseStandardDeviation: Double

Standard deviation for accelerometer noise expressed in m/s^2.

val ba: Matrix

Contains accelerometer bias expressed in meters per squared second (m/s^2).

val bg: Matrix

Contains gyroscope bias expressed in radians per second (rad/s).

bodyQ

val bodyQ: Quaternion

Contains corrected body attitude.

externalAcceleration

val externalAcceleration: AccelerationTriad

Contains external acceleration in body coordinates.

externalAccelerationCovarianceMatrixEstimationMethod

val externalAccelerationCovarianceMatrixEstimationMethod: ExternalAccelerationCovarianceMatrixEstimationMethod

gravityNorm

var gravityNorm: Double

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

kalmanErrorCovAccelerometerCorrected

val kalmanErrorCovAccelerometerCorrected: Matrix

Accelerometer corrected Kalman error covariance.

kalmanErrorCovPostPredicted

var kalmanErrorCovPostPredicted: Matrix

Kalman state error covariance after prediction stage.

kalmanStateAccelerometerCorrected

val kalmanStateAccelerometerCorrected: Matrix

Corrected Kalman state after processing accelerometer measurement.

kalmanStatePostPredicted

var kalmanStatePostPredicted: Matrix

Kalman state after prediction.

nedBodyAccelerationTriad

var nedBodyAccelerationTriad: AccelerationTriad

Contains accelerometer data expressed in NED coordinates respect to body. This is reused for performance reasons.

predictedBodyQ

var predictedBodyQ: Quaternion

Contains predicted body attitude for next step. Because rotation is defined respect to body, rotation converts from body coordinates to leveled local NED coordinates respect to Earth: pn = previousBodyQ * pb

predictedNedQJacobian

val predictedNedQJacobian: Matrix

Jacobian of predictedNedQ respect to estimated errorQ.

Functions

correct

fun correct()

Computes accelerometer measurement correction.

reset

fun reset()

Resets this corrector instance to its initial state.