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

Class ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer

java.lang.Object

com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.calibration.TimedBodyKinematics,GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource>

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

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

All Implemented Interfaces:

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

public class ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer
extends GyroscopeIntervalDetectorThresholdFactorOptimizer

Optimizes the threshold factor for interval detection of accelerometer and gyroscope data based on results of calibration. Only gyroscope calibrators based on unknown orientation are supported (in other terms, calibrators must be GyroscopeNonLinearCalibrator and must support GyroscopeCalibratorMeasurementOrSequenceType.BODY_KINEMATICS_SEQUENCE). 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 GyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and GyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

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

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
ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer()	Constructor.
ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator)	Constructor.
ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource)	Constructor.
ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource, com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator)	Constructor.

Method Summary

Modifier and Type	Method	Description
double	getThresholdFactorStep()	Gets the step to make exhaustive search of threshold values between GyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and GyroscopeIntervalDetectorThresholdFactorOptimizer.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 GyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and GyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

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

evaluateForThresholdFactor, getAccelerometerBaseNoiseLevel, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelPsd, getAccelerometerBaseNoiseLevelRootPsd, getBaseNoiseLevelAbsoluteThreshold, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getCalibrator, getEstimatedBiases, getEstimatedBiasStandardDeviationNorm, getEstimatedBiasXVariance, getEstimatedBiasYVariance, getEstimatedBiasZVariance, getEstimatedGg, getEstimatedMg, getGyroscopeBaseNoiseLevelPsd, getGyroscopeBaseNoiseLevelRootPsd, getInitialStaticSamples, getInstantaneousNoiseLevelFactor, getMaxDynamicSamples, getMaxThresholdFactor, getMinStaticSamples, getMinThresholdFactor, getQualityScoreMapper, getThreshold, getThresholdAsMeasurement, getThresholdAsMeasurement, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getWindowSize, isReady, setBaseNoiseLevelAbsoluteThreshold, setBaseNoiseLevelAbsoluteThreshold, setCalibrator, setInitialStaticSamples, setInstantaneousNoiseLevelFactor, setMaxDynamicSamples, setMinStaticSamples, setQualityScoreMapper, 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 GyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and GyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

Constructor Details

ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer

public ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer()

Constructor.

ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer

public ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource)

Constructor.

Parameters:

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

ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer

public ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator)

Constructor.

Parameters:

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

Throws:

IllegalArgumentException - if gyroscope calibrator does not use BodyKinematicsSequence sequences.

ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer

public ExhaustiveGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource,
 com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator)

Constructor.

Parameters:

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

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

Throws:

IllegalArgumentException - if gyroscope calibrator does not use BodyKinematicsSequence sequences.

Method Details

getThresholdFactorStep

public double getThresholdFactorStep()

Gets the step to make exhaustive search of threshold values between GyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and GyroscopeIntervalDetectorThresholdFactorOptimizer.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 GyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and GyroscopeIntervalDetectorThresholdFactorOptimizer.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.TimedBodyKinematics,GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource>

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.