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

Class ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer

java.lang.Object

com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

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

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

All Implemented Interfaces:

com.irurueta.navigation.inertial.calibration.AccelerometerNoiseRootPsdSource

public class ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer
extends MagnetometerIntervalDetectorThresholdFactorOptimizer

Optimizes the threshold factor for interval detection of magnetometer data based on results of calibration. 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 MagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and MagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

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

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
ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer()	Constructor.
ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer(MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource)	Constructor.
ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer(MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource, com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator calibrator)	Constructor.
ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator calibrator)	Constructor.

Method Summary

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

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

evaluateForThresholdFactor, getAccelerometerBaseNoiseLevel, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelPsd, getAccelerometerBaseNoiseLevelRootPsd, getBaseNoiseLevelAbsoluteThreshold, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getCalibrator, getEstimatedHardIron, getEstimatedMm, 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 MagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and MagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

Constructor Details

ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer

public ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer()

Constructor.

ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer

public ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer(MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource)

Constructor.

Parameters:

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

ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer

public ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator calibrator)

Constructor.

Parameters:

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

Throws:

IllegalArgumentException - if magnetometer calibrator does not use StandardDeviationBodyMagneticFluxDensity measurements.

ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer

public ExhaustiveMagnetometerIntervalDetectorThresholdFactorOptimizer(MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource,
 com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator calibrator)

Constructor.

Parameters:

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

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

Throws:

IllegalArgumentException - 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 MagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and MagnetometerIntervalDetectorThresholdFactorOptimizer.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 MagnetometerIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and MagnetometerIntervalDetectorThresholdFactorOptimizer.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.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

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.