Package com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor

Class ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

java.lang.Object

com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.calibration.TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

All Implemented Interfaces:

com.irurueta.navigation.inertial.calibration.AccelerometerNoiseRootPsdSource, com.irurueta.navigation.inertial.calibration.GyroscopeNoiseRootPsdSource

public class ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer
extends AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

Optimizes the threshold factor for interval detection of accelerometer and gyroscope data based on results of calibration. Only accelerometer calibrators based on unknown orientation are supported (in other terms, calibrators must be AccelerometerNonLinearCalibrator and must support AccelerometerCalibratorMeasurementType.STANDARD_DEVIATION_BODY_KINEMATICS). Only gyroscope calibrators based on unknown orientation are supported (in other terms, calibrators must be GyroscopeNonLinearCalibrator and must support GyroscopeCalibratorMeasurementOrSequenceType.BODY_KINEMATICS_SEQUENCE). Only magnetometer calibrators based on unknown orientation are supported, in other terms, calibrators must be MagnetometerNonLinearCalibrator and must support MagnetometerCalibratorMeasurementType.STANDARD_DEVIATION_BODY_MAGNETIC_FLUX_DENSITY. This implementation makes an exhaustive search between minimum and maximum threshold factor values to find the threshold value that produces the minimum Mean Square Error (MSE) for calibration parameters.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_STEP	Default step value to make exhaustive search of threshold factor values.
private double	thresholdFactorStep	Step to make exhaustive search of threshold factor values between AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

Fields inherited from class com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

DEFAULT_MAX_THRESHOLD_FACTOR, DEFAULT_MIN_THRESHOLD_FACTOR, maxThresholdFactor, minThresholdFactor

Fields inherited from class com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.IntervalDetectorThresholdFactorOptimizer

dataSource, DEFAULT_PROGRESS_DELTA, listener, MAX_PROGRESS_DELTA, MIN_PROGRESS_DELTA, minMse, optimalThresholdFactor, previousProgress, progress, progressDelta, running

Constructor Summary

Constructors

Constructor	Description
ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer()	Constructor.
ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator, com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator, com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator)	Constructor.
ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource)	Constructor.
ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource, com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator, com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator, com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator)	Constructor.

Method Summary

Modifier and Type	Method	Description
double	getThresholdFactorStep()	Gets the step to make exhaustive search of threshold values between AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().
double	optimize()	Optimizes the threshold factor for a static interval detector or measurement generator to minimize MSE (Minimum Squared Error) of estimated calibration parameters.
void	setThresholdFactorStep(double thresholdStep)	Sets step to make exhaustive search of threshold values between AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

Methods inherited from class com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

evaluateForThresholdFactor, getAccelerometerBaseNoiseLevel, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelPsd, getAccelerometerBaseNoiseLevelRootPsd, getAccelerometerCalibrator, getAccelerometerQualityScoreMapper, getBaseNoiseLevelAbsoluteThreshold, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getEstimatedAccelerometerBiases, getEstimatedAccelerometerBiasFxVariance, getEstimatedAccelerometerBiasFyVariance, getEstimatedAccelerometerBiasFzVariance, getEstimatedAccelerometerBiasStandardDeviationNorm, getEstimatedAccelerometerMa, getEstimatedGyroscopeBiases, getEstimatedGyroscopeBiasStandardDeviationNorm, getEstimatedGyroscopeBiasXVariance, getEstimatedGyroscopeBiasYVariance, getEstimatedGyroscopeBiasZVariance, getEstimatedGyroscopeGg, getEstimatedGyroscopeMg, getEstimatedMagnetometerHardIron, getEstimatedMagnetometerMm, getGyroscopeBaseNoiseLevelPsd, getGyroscopeBaseNoiseLevelRootPsd, getGyroscopeCalibrator, getGyroscopeQualityScoreMapper, getInitialStaticSamples, getInstantaneousNoiseLevelFactor, getMagnetometerCalibrator, getMagnetometerQualityScoreMapper, getMaxDynamicSamples, getMaxThresholdFactor, getMinStaticSamples, getMinThresholdFactor, getMseRule, getThreshold, getThresholdAsMeasurement, getThresholdAsMeasurement, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getWindowSize, isReady, setAccelerometerCalibrator, setAccelerometerQualityScoreMapper, setBaseNoiseLevelAbsoluteThreshold, setBaseNoiseLevelAbsoluteThreshold, setGyroscopeCalibrator, setGyroscopeQualityScoreMapper, setInitialStaticSamples, setInstantaneousNoiseLevelFactor, setMagnetometerCalibrator, setMagnetometerQualityScoreMapper, setMaxDynamicSamples, setMinStaticSamples, setMseRule, setThresholdFactorRange, setTimeInterval, setTimeInterval, setWindowSize

Methods inherited from class com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.IntervalDetectorThresholdFactorOptimizer

checkAndNotifyProgress, getDataSource, getListener, getMinMse, getOptimalThresholdFactor, getProgressDelta, initProgress, isRunning, setDataSource, setListener, setProgressDelta

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

DEFAULT_STEP

public static final double DEFAULT_STEP

Default step value to make exhaustive search of threshold factor values.

See Also:

• Constant Field Values

thresholdFactorStep

private double thresholdFactorStep

Step to make exhaustive search of threshold factor values between AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

Constructor Details

ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer()

Constructor.

ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource)

Constructor.

Parameters:

dataSource - instance in charge of retrieving data for this optimizer.

ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator,
 com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator,
 com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator)

Constructor.

Parameters:

accelerometerCalibrator - an accelerometer calibrator to be used to optimize its Mean Square Error (MSE).

gyroscopeCalibrator - a gyroscope calibrator to be used to optimize its Mean Square Error (MSE).

magnetometerCalibrator - a magnetometer calibrator to be used to optimize its Mean Square Error (MSE).

Throws:

IllegalArgumentException - if accelerometer calibrator does not use StandardDeviationBodyKinematics measurements, if gyroscope calibrator does not use BodyKinematicsSequence sequences of StandardDeviationTimedBodyKinematics or if magnetometer calibrator does not use StandardDeviationBodyMagneticFluxDensity measurements.

ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public ExhaustiveAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource,
 com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator,
 com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator,
 com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator)

Constructor.

Parameters:

dataSource - instance in charge of retrieving data for this optimizer.

accelerometerCalibrator - an accelerometer calibrator to be used to optimize its Mean Square Error (MSE).

gyroscopeCalibrator - a gyroscope calibrator to be used to optimize its Mean Square Error (MSE).

magnetometerCalibrator - a magnetometer calibrator to be used to optimize its Mean Square Error (MSE).

Throws:

IllegalArgumentException - if accelerometer calibrator does not use StandardDeviationBodyKinematics measurements, if gyroscope calibrator does not use BodyKinematicsSequence sequences of StandardDeviationTimedBodyKinematics or if magnetometer calibrator does not use StandardDeviationBodyMagneticFluxDensity measurements.

Method Details

getThresholdFactorStep

public double getThresholdFactorStep()

Gets the step to make exhaustive search of threshold values between AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

Returns:

step to make exhaustive search of threshold values.

setThresholdFactorStep

public void setThresholdFactorStep(double thresholdStep)
                            throws com.irurueta.navigation.LockedException

Sets step to make exhaustive search of threshold values between AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

Parameters:

thresholdStep - step to make exhaustive search of threshold values.

Throws:

com.irurueta.navigation.LockedException - if optimizer is already running.

IllegalArgumentException - if provided value is zero or negative.

optimize

public double optimize()
                throws com.irurueta.navigation.NotReadyException,
com.irurueta.navigation.LockedException,
IntervalDetectorThresholdFactorOptimizerException

Optimizes the threshold factor for a static interval detector or measurement generator to minimize MSE (Minimum Squared Error) of estimated calibration parameters.

Specified by:

optimize in class IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.calibration.TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

Returns:

optimized threshold factor.

Throws:

com.irurueta.navigation.NotReadyException - if this optimizer is not ready to start optimization.

com.irurueta.navigation.LockedException - if optimizer is already running.

IntervalDetectorThresholdFactorOptimizerException - if optimization fails for some reason.