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

Package-level declarations

Types

AccelerometerDoubleFusedGeomagneticAttitudeProcessor

class AccelerometerDoubleFusedGeomagneticAttitudeProcessor(processorListener: BaseDoubleFusedGeomagneticAttitudeProcessor.OnProcessedListener<AccelerometerSensorMeasurement, AccelerometerGyroscopeAndMagnetometerSyncedSensorMeasurement>? = null) : BaseDoubleFusedGeomagneticAttitudeProcessor<AccelerometerSensorMeasurement, AccelerometerGyroscopeAndMagnetometerSyncedSensorMeasurement>

Estimates absolute attitude by fusing absolute leveled geomagnetic attitude and leveled relative attitude.

AccelerometerFusedGeomagneticAttitudeProcessor

class AccelerometerFusedGeomagneticAttitudeProcessor(processorListener: BaseFusedGeomagneticAttitudeProcessor.OnProcessedListener<AccelerometerSensorMeasurement, AccelerometerGyroscopeAndMagnetometerSyncedSensorMeasurement>? = null) : BaseFusedGeomagneticAttitudeProcessor<AccelerometerSensorMeasurement, AccelerometerGyroscopeAndMagnetometerSyncedSensorMeasurement>

Estimates absolute attitude by fusing absolute leveled attitude and relative attitude.

AccelerometerGeomagneticAttitudeProcessor

class AccelerometerGeomagneticAttitudeProcessor(processorListener: BaseGeomagneticAttitudeProcessor.OnProcessedListener<AccelerometerSensorMeasurement, AccelerometerAndMagnetometerSyncedSensorMeasurement>? = null) : BaseGeomagneticAttitudeProcessor<AccelerometerSensorMeasurement, AccelerometerAndMagnetometerSyncedSensorMeasurement>

Estimates leveled absolute attitude using accelerometer and magnetometer sensors. Roll and pitch Euler angles are leveled using accelerometer sensor. Yaw angle is obtained from magnetometer once the leveling is estimated.

AccelerometerGravityProcessor

class AccelerometerGravityProcessor(val averagingFilter: AveragingFilter = LowPassAveragingFilter(), location: Location? = null, adjustGravityNorm: Boolean = true, processorListener: BaseGravityProcessor.OnProcessedListener<AccelerometerSensorMeasurement>? = null) : BaseGravityProcessor<AccelerometerSensorMeasurement>

Collects accelerometer measurements based on android coordinates system (ENU) and uses a low-pass filter to assume it is the gravity component of specific force and converts it to NED coordinates system.

AccelerometerLeveledRelativeAttitudeProcessor

class AccelerometerLeveledRelativeAttitudeProcessor(processorListener: BaseLeveledRelativeAttitudeProcessor.OnProcessedListener<AccelerometerSensorMeasurement, AccelerometerAndGyroscopeSyncedSensorMeasurement>? = null) : BaseLeveledRelativeAttitudeProcessor<AccelerometerSensorMeasurement, AccelerometerAndGyroscopeSyncedSensorMeasurement>

Estimates leveled relative attitude by fusing leveling attitude obtained from accelerometer sensor, and relative attitude obtained from gyroscope sensor.

AccurateLevelingProcessor

class AccurateLevelingProcessor(var location: Location, var processorListener: BaseLevelingProcessor.OnProcessedListener? = null) : BaseLevelingProcessor

Estimates leveling of device (roll and pitch angle) by using estimated gravity vector. This processor does not estimate attitude yaw angle, as either a magnetometer or gyroscope would be needed. This estimator is more accurate than LevelingEstimator since it takes into account device location (which requires location permission), and at the expense of higher CPU load.

AccurateRelativeGyroscopeAttitudeProcessor

class AccurateRelativeGyroscopeAttitudeProcessor(var processorListener: BaseRelativeGyroscopeAttitudeProcessor.OnProcessedListener? = null) : BaseRelativeGyroscopeAttitudeProcessor

Estimates relative attitude of device respect to an arbitrary initial attitude using gyroscope measurements only. This processor uses Runge-Kutta integration to obtain greater accuracy than RelativeGyroscopeAttitudeProcessor at the expense of additional cpu usage.

ApproximatedPhiMatrixEstimator

class ApproximatedPhiMatrixEstimator(a: Matrix? = null) : PhiMatrixEstimator

Approximately computes matrix that relates previous and predicted Kalman filter state by assuming short time intervals and approximating the exponential of process equation matrix by the first term of its Taylor expansion series.

ApproximatedProcessNoiseCovarianceIntegrator

class ApproximatedProcessNoiseCovarianceIntegrator(q: Matrix? = null, a: Matrix? = null) : ProcessNoiseCovarianceIntegrator

Approximately integrates continuous time process noise covariance matrix.

AttitudeProcessor

class AttitudeProcessor(var processorListener: AttitudeProcessor.OnProcessedListener? = null)

Processes an absolute or relative attitude obtained by an Android Sensor expressed in ENU coordinates system and converts it to NED coordinates system.

BaseDoubleFusedGeomagneticAttitudeProcessor

abstract class BaseDoubleFusedGeomagneticAttitudeProcessor<M : SensorMeasurement<M>, S : SyncedSensorMeasurement>(var processorListener: BaseDoubleFusedGeomagneticAttitudeProcessor.OnProcessedListener<M, S>?)

Base class to estimate absolute attitude by fusing absolute leveled geomagnetic attitude and leveled relative attitude.

BaseFusedGeomagneticAttitudeProcessor

abstract class BaseFusedGeomagneticAttitudeProcessor<M : SensorMeasurement<M>, S : SyncedSensorMeasurement>(var processorListener: BaseFusedGeomagneticAttitudeProcessor.OnProcessedListener<M, S>?)

Base class to estimate absolute attitude by fusing absolute leveled geomagnetic attitude and relative attitude.

BaseGeomagneticAttitudeProcessor

abstract class BaseGeomagneticAttitudeProcessor<M : SensorMeasurement<M>, S : SyncedSensorMeasurement>(var processorListener: BaseGeomagneticAttitudeProcessor.OnProcessedListener<M, S>?)

Base class to estimate leveled absolute attitude using accelerometer (or gravity) and magnetometer sensors. Roll and pitch Euler angles are leveled using accelerometer or gravity sensors. Yaw angle is obtained from magnetometer once the leveling is estimated.

BaseGravityProcessor

abstract class BaseGravityProcessor<T : SensorMeasurement<T>>(var location: Location?, var adjustGravityNorm: Boolean, var processorListener: BaseGravityProcessor.OnProcessedListener<T>?)

Base class for a gravity processor. Collects accelerometer or gravity sensor measurements and processed them and converts them to NED coordinates.

BaseLeveledRelativeAttitudeProcessor

abstract class BaseLeveledRelativeAttitudeProcessor<M : SensorMeasurement<M>, S : SyncedSensorMeasurement>(var processorListener: BaseLeveledRelativeAttitudeProcessor.OnProcessedListener<M, S>?)

Base class to estimate leveled relative attitude by fusing leveling attitude obtained from accelerometer or gravity sensors, and relative attitude obtained from gyroscope sensor.

BaseLevelingProcessor

abstract class BaseLevelingProcessor(var processorListener: BaseLevelingProcessor.OnProcessedListener?)

Base class to estimate leveling of device (roll and pitch angle) by using estimated gravity vector.

BaseRelativeGyroscopeAttitudeProcessor

abstract class BaseRelativeGyroscopeAttitudeProcessor(var processorListener: BaseRelativeGyroscopeAttitudeProcessor.OnProcessedListener?)

Base class to estimate relative attitude of device respect to an arbitrary initial attitude using gyroscope measurements only.

BetterProcessNoiseCovarianceIntegrator

class BetterProcessNoiseCovarianceIntegrator(q: Matrix? = null, a: Matrix? = null) : ProcessNoiseCovarianceIntegrator

Better approximation to integrate continuous time process noise covariance matrix.

DoubleFusedGeomagneticAttitudeProcessor

class DoubleFusedGeomagneticAttitudeProcessor(processorListener: BaseDoubleFusedGeomagneticAttitudeProcessor.OnProcessedListener<GravitySensorMeasurement, GravityGyroscopeAndMagnetometerSyncedSensorMeasurement>? = null) : BaseDoubleFusedGeomagneticAttitudeProcessor<GravitySensorMeasurement, GravityGyroscopeAndMagnetometerSyncedSensorMeasurement>

Estimates absolute attitude by fusing absolute leveled geomagnetic attitude and leveled relative attitude.

ExternalAccelerationCovarianceMatrixEstimationMethod

enum ExternalAccelerationCovarianceMatrixEstimationMethod : Enum<ExternalAccelerationCovarianceMatrixEstimationMethod>

Method to determine external acceleration covariance matrix.

ExternalAccelerationCovarianceMatrixEstimator

abstract class ExternalAccelerationCovarianceMatrixEstimator(val accelerometerNoiseStandardDeviation: Double)

Estimates external acceleration covariance matrix.

FusedGeomagneticAttitudeProcessor

class FusedGeomagneticAttitudeProcessor(processorListener: BaseFusedGeomagneticAttitudeProcessor.OnProcessedListener<GravitySensorMeasurement, GravityGyroscopeAndMagnetometerSyncedSensorMeasurement>? = null) : BaseFusedGeomagneticAttitudeProcessor<GravitySensorMeasurement, GravityGyroscopeAndMagnetometerSyncedSensorMeasurement>

Estimates absolute attitude by fusing absolute leveled attitude and relative attitude.

GeomagneticAttitudeProcessor

class GeomagneticAttitudeProcessor(processorListener: BaseGeomagneticAttitudeProcessor.OnProcessedListener<GravitySensorMeasurement, GravityAndMagnetometerSyncedSensorMeasurement>? = null) : BaseGeomagneticAttitudeProcessor<GravitySensorMeasurement, GravityAndMagnetometerSyncedSensorMeasurement>

Estimates leveled absolute attitude using gravity and magnetometer sensors. Roll and pitch Euler angles are leveled using gravity sensor. Yaw angle is obtained from magnetometer once the leveling is estimated.

GravityProcessor

class GravityProcessor(location: Location? = null, adjustGravityNorm: Boolean = true, processorListener: BaseGravityProcessor.OnProcessedListener<GravitySensorMeasurement>? = null) : BaseGravityProcessor<GravitySensorMeasurement>

Collects gravity measurements based on android coordinates system (ENU), and converts them to NED coordinates system.

KalmanAbsoluteAttitudeProcessor

class KalmanAbsoluteAttitudeProcessor(val computeEulerAngles: Boolean = true, val computeCovariances: Boolean = true, val computeQuaternionCovariance: Boolean = true, val computeEulerAnglesCovariance: Boolean = true, val computeAccelerometerCovariance: Boolean = true, val computeRotationAxisCovariance: Boolean = true, val gyroscopeNoisePsd: Double = DEFAULT_GYROSCOPE_NOISE_PSD, val accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION, val magnetometerNoiseStandardDeviation: Double = DEFAULT_MAGNETOMETER_NOISE_STANDARD_DEVIATION, val quaternionStepIntegratorType: QuaternionStepIntegratorType = QuaternionStepIntegrator.DEFAULT_TYPE, val gravityNorm: Double = EARTH_GRAVITY, val freeFallThreshold: Double = DEFAULT_FREE_FALL_THRESHOLD, val symmetricThreshold: Double = SYMMETRIC_THRESHOLD, var processorListener: KalmanAbsoluteAttitudeProcessor.OnProcessedListener? = null, var numericalInstabilitiesListener: KalmanAbsoluteAttitudeProcessor.OnNumericalInstabilitiesDetectedListener? = null)

Estimates absolute attitude using a Kalman filter. This is based on Android native implementation: https://android.googlesource.com/platform/frameworks/native/+/refs/heads/master/services/sensorservice/Fusion.cpp And also based on: https://www.mdpi.com/1424-8220/20/23/6731

KalmanAbsoluteAttitudeProcessor2

class KalmanAbsoluteAttitudeProcessor2(averagingFilter: AveragingFilter = LowPassAveragingFilter(), location: Location? = null, adjustGravityNorm: Boolean = true, val computeEulerAngles: Boolean = true, val computeCovariances: Boolean = true, val computeQuaternionCovariance: Boolean = true, val computeEulerAnglesCovariance: Boolean = true, val computeAccelerometerCovariance: Boolean = true, val computeRotationAxisCovariance: Boolean = true, val gyroscopeNoisePsd: Double = DEFAULT_GYROSCOPE_NOISE_PSD, val accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION, val magnetometerNoiseStandardDeviation: Double = DEFAULT_MAGNETOMETER_NOISE_STANDARD_DEVIATION, val quaternionStepIntegratorType: QuaternionStepIntegratorType = QuaternionStepIntegrator.DEFAULT_TYPE, val freeFallThreshold: Double = DEFAULT_FREE_FALL_THRESHOLD, val symmetricThreshold: Double = SYMMETRIC_THRESHOLD, var processorListener: KalmanAbsoluteAttitudeProcessor2.OnProcessedListener? = null, var numericalInstabilitiesListener: KalmanAbsoluteAttitudeProcessor2.OnNumericalInstabilitiesDetectedListener? = null)

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.

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.

KalmanAbsoluteAttitudeProcessor5

class KalmanAbsoluteAttitudeProcessor5(location: Location? = null, var currentDate: Date? = null, var computeExternalAcceleration: Boolean = true, var computeEulerAngles: Boolean = true, var computeCovariances: Boolean = true, var computeEulerAnglesCovariance: Boolean = true, phiMatrixMethod: PhiMatrixMethod = PhiMatrixMethod.APPROXIMATED, processNoiseCovarianceMethod: ProcessNoiseCovarianceMethod = ProcessNoiseCovarianceMethod.BETTER, quaternionStepIntegrator: QuaternionStepIntegratorType = QuaternionStepIntegratorType.SUH, val gyroscopeNoisePsd: Double = DEFAULT_GYROSCOPE_NOISE_PSD, val accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION, val magnetometerNoiseStandardDeviation: Double = DEFAULT_MAGNETOMETER_NOISE_STANDARD_DEVIATION, externalAccelerationCovarianceMatrixEstimationMethod: ExternalAccelerationCovarianceMatrixEstimationMethod = DEFAULT_EXTERNAL_ACCELERATION_COVARIANCE_MATRIX_ESTIMATION_METHOD, val processorListener: KalmanAbsoluteAttitudeProcessor5.OnProcessedListener? = null)

KalmanAbsoluteAttitudeProcessor6

class KalmanAbsoluteAttitudeProcessor6

KalmanAccelerometerCorrector

class KalmanAccelerometerCorrector(val externalAccelerationCovarianceMatrixEstimationMethod: ExternalAccelerationCovarianceMatrixEstimationMethod = DEFAULT_EXTERNAL_ACCELERATION_COVARIANCE_MATRIX_ESTIMATION_METHOD)

Corrects Kalman state from accelerometer measurement.

KalmanGyroscopePredictor

class KalmanGyroscopePredictor(phiMatrixMethod: PhiMatrixMethod = PhiMatrixMethod.APPROXIMATED, processNoiseCovarianceMethod: ProcessNoiseCovarianceMethod = ProcessNoiseCovarianceMethod.BETTER, quaternionStepIntegratorType: QuaternionStepIntegratorType = QuaternionStepIntegratorType.RUNGE_KUTTA, val gyroscopeNoisePsd: Double = DEFAULT_GYROSCOPE_NOISE_PSD)

Predicts next Kalman filter state based on current gyroscope measurement.

KalmanMagnetometerCorrector

class KalmanMagnetometerCorrector

Corrects Kalman state from magnetometer measurement.

KalmanRelativeAttitudeProcessor

class KalmanRelativeAttitudeProcessor(val computeEulerAngles: Boolean = true, val computeCovariances: Boolean = true, val computeQuaternionCovariance: Boolean = true, val computeEulerAnglesCovariance: Boolean = true, val computeAccelerometerCovariance: Boolean = true, val computeRotationAxisCovariance: Boolean = true, val gyroscopeNoisePsd: Double = DEFAULT_GYROSCOPE_NOISE_PSD, val accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION, val quaternionStepIntegratorType: QuaternionStepIntegratorType = QuaternionStepIntegrator.DEFAULT_TYPE, val gravityNorm: Double = EARTH_GRAVITY, val freeFallThreshold: Double = DEFAULT_FREE_FALL_THRESHOLD, val symmetricThreshold: Double = SYMMETRIC_THRESHOLD, var processorListener: KalmanRelativeAttitudeProcessor.OnProcessedListener? = null, var numericalInstabilitiesListener: KalmanRelativeAttitudeProcessor.OnNumericalInstabilitiesDetectedListener? = null)

Estimates relative attitude using a Kalman filter. This is based on Android native implementation: https://android.googlesource.com/platform/frameworks/native/+/refs/heads/master/services/sensorservice/Fusion.cpp And also based on: https://www.mdpi.com/1424-8220/20/23/6731

KalmanRelativeAttitudeProcessor2

class KalmanRelativeAttitudeProcessor2(val averagingFilter: AveragingFilter = LowPassAveragingFilter(), location: Location? = null, adjustGravityNorm: Boolean = true, val computeEulerAngles: Boolean = true, val computeCovariances: Boolean = true, val computeQuaternionCovariance: Boolean = true, val computeEulerAnglesCovariance: Boolean = true, val computeAccelerometerCovariance: Boolean = true, val computeRotationAxisCovariance: Boolean = true, val gyroscopeNoisePsd: Double = DEFAULT_GYROSCOPE_NOISE_PSD, val accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION, val quaternionStepIntegratorType: QuaternionStepIntegratorType = QuaternionStepIntegrator.DEFAULT_TYPE, val freeFallThreshold: Double = DEFAULT_FREE_FALL_THRESHOLD, val symmetricThreshold: Double = SYMMETRIC_THRESHOLD, var processorListener: KalmanRelativeAttitudeProcessor2.OnProcessedListener? = null, var numericalInstabilitiesListener: KalmanRelativeAttitudeProcessor2.OnNumericalInstabilitiesDetectedListener? = null)

LeveledRelativeAttitudeProcessor

class LeveledRelativeAttitudeProcessor(processorListener: BaseLeveledRelativeAttitudeProcessor.OnProcessedListener<GravitySensorMeasurement, GravityAndGyroscopeSyncedSensorMeasurement>? = null) : BaseLeveledRelativeAttitudeProcessor<GravitySensorMeasurement, GravityAndGyroscopeSyncedSensorMeasurement>

Estimates leveled relative attitude by fusing leveling attitude obtained from gravity sensor, and relative attitude obtained from gyroscope sensor.

LevelingProcessor

class LevelingProcessor(var processorListener: BaseLevelingProcessor.OnProcessedListener? = null) : BaseLevelingProcessor

Estimates leveling of device (roll and pitch angle) by using estimated gravity vector. This processor does not estimate attitude yaw angle, as either a magnetometer or gyroscope would be needed.

PhiMatrixEstimator

abstract class PhiMatrixEstimator(a: Matrix?)

Computes matrix that relates previous and predicted Kalman filter state.

PhiMatrixMethod

enum PhiMatrixMethod : Enum<PhiMatrixMethod>

Supported methods to estimate phi matrix relating previous and predicted Kalman filter state.

PrecisePhiMatrixEstimator

class PrecisePhiMatrixEstimator(a: Matrix? = null) : PhiMatrixEstimator

Computes matrix that relates previous and predicted Kalman filter state by computing a precise estimation of process equation matrix exponential.

PreciseProcessNoiseCovarianceIntegrator

class PreciseProcessNoiseCovarianceIntegrator(q: Matrix? = null, a: Matrix? = null, val integratorType: IntegratorType = MatrixIntegrator.DEFAULT_INTEGRATOR_TYPE, val quadratureType: QuadratureType = MatrixIntegrator.DEFAULT_QUADRATURE_TYPE) : ProcessNoiseCovarianceIntegrator

Integrates continuous time process noise covariance matrix.

ProcessNoiseCovarianceIntegrator

abstract class ProcessNoiseCovarianceIntegrator(q: Matrix?, a: Matrix?)

Integrates continuous time process noise covariance matrix.

ProcessNoiseCovarianceMethod

enum ProcessNoiseCovarianceMethod : Enum<ProcessNoiseCovarianceMethod>

Supported methods to estimate process noise covariance matrix

QuaternionStepIntegratorType

enum QuaternionStepIntegratorType : Enum<QuaternionStepIntegratorType>

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

RelativeGyroscopeAttitudeProcessor

class RelativeGyroscopeAttitudeProcessor(var processorListener: BaseRelativeGyroscopeAttitudeProcessor.OnProcessedListener? = null) : BaseRelativeGyroscopeAttitudeProcessor

Estimates relative attitude of device respect to an arbitrary initial attitude using gyroscope measurements only.

SabatiniExternalAccelerationCovarianceMatrixEstimator

class SabatiniExternalAccelerationCovarianceMatrixEstimator(val accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION) : ExternalAccelerationCovarianceMatrixEstimator

Estimates external acceleration covariance matrix using Sabatini's method.

SuhExternalAccelerationCovarianceMatrixEstimator

class SuhExternalAccelerationCovarianceMatrixEstimator(val accelerometerNoiseStandardDeviation: Double = DEFAULT_ACCELEROMETER_NOISE_STANDARD_DEVIATION) : ExternalAccelerationCovarianceMatrixEstimator

Estimates external acceleration covariance matrix using Suh's method.