Package com.irurueta.navigation.inertial.calibration

Class INSLooselyCoupledKalmanInitializerConfigCreator

java.lang.Object
com.irurueta.navigation.inertial.calibration.INSLooselyCoupledKalmanInitializerConfigCreator
public class INSLooselyCoupledKalmanInitializerConfigCreator extends Object
Utility class to create INSLooselyCoupledKalmanInitializerConfig by combining different sources of estimated data. Sources of data can be any accelerometer calibrator implementing AccelerometerBiasUncertaintySource, or any gyroscope calibrator implementing GyroscopeBiasUncertaintySource.

  • Field Details

    • accelerometerBiasUncertaintySource

      private com.irurueta.navigation.inertial.calibration.AccelerometerBiasUncertaintySource accelerometerBiasUncertaintySource
      A source of estimated accelerometer bias uncertainty.

    • gyroscopeBiasUncertaintySource

      private com.irurueta.navigation.inertial.calibration.GyroscopeBiasUncertaintySource gyroscopeBiasUncertaintySource
      A source of estimated gyroscope bias uncertainty.

    • attitudeUncertaintySource

      private AttitudeUncertaintySource attitudeUncertaintySource
      A source of attitude uncertainty.

    • velocityUncertaintySource

      private VelocityUncertaintySource velocityUncertaintySource
      A source of velocity uncertainty.

    • positionUncertaintySource

      private PositionUncertaintySource positionUncertaintySource
      A source of position uncertainty.

  • Constructor Details

    • INSLooselyCoupledKalmanInitializerConfigCreator

      public INSLooselyCoupledKalmanInitializerConfigCreator()
      Constructor.

    • INSLooselyCoupledKalmanInitializerConfigCreator

      public INSLooselyCoupledKalmanInitializerConfigCreator(com.irurueta.navigation.inertial.calibration.AccelerometerBiasUncertaintySource accelerometerBiasUncertaintySource, com.irurueta.navigation.inertial.calibration.GyroscopeBiasUncertaintySource gyroscopeBiasUncertaintySource, AttitudeUncertaintySource attitudeUncertaintySource, VelocityUncertaintySource velocityUncertaintySource, PositionUncertaintySource positionUncertaintySource)
      Constructor.
      Parameters:
      accelerometerBiasUncertaintySource - a source of estimated accelerometer bias uncertainty.
      gyroscopeBiasUncertaintySource - a source of estimated gyroscope bias uncertainty.
      attitudeUncertaintySource - a source of attitude uncertainty.
      velocityUncertaintySource - a source of velocity uncertainty.
      positionUncertaintySource - a source of position uncertainty.

    • INSLooselyCoupledKalmanInitializerConfigCreator

      public INSLooselyCoupledKalmanInitializerConfigCreator(com.irurueta.navigation.inertial.calibration.AccelerometerBiasUncertaintySource accelerometerBiasUncertaintySource, com.irurueta.navigation.inertial.calibration.GyroscopeBiasUncertaintySource gyroscopeBiasUncertaintySource, RandomWalkEstimator randomWalkEstimator)
      Constructor.
      Parameters:
      accelerometerBiasUncertaintySource - a source of estimated accelerometer bias uncertainty.
      gyroscopeBiasUncertaintySource - a source of estimated gyroscope bias uncertainty.
      randomWalkEstimator - a random walk estimator.

  • Method Details

    • getAccelerometerBiasUncertaintySource

      public com.irurueta.navigation.inertial.calibration.AccelerometerBiasUncertaintySource getAccelerometerBiasUncertaintySource()
      Gets the source of estimated accelerometer bias uncertainty.
      Returns:
      source of estimated accelerometer bias uncertainty.

    • setAccelerometerBiasUncertaintySource

      public void setAccelerometerBiasUncertaintySource(com.irurueta.navigation.inertial.calibration.AccelerometerBiasUncertaintySource accelerometerBiasUncertaintySource)
      Sets source of estimated accelerometer bias uncertainty.
      Parameters:
      accelerometerBiasUncertaintySource - source of estimated accelerometer bias uncertainty.

    • getGyroscopeBiasUncertaintySource

      public com.irurueta.navigation.inertial.calibration.GyroscopeBiasUncertaintySource getGyroscopeBiasUncertaintySource()
      Gets the source of estimated gyroscope bias uncertainty.
      Returns:
      source of estimated gyroscope bias uncertainty.

    • setGyroscopeBiasUncertaintySource

      public void setGyroscopeBiasUncertaintySource(com.irurueta.navigation.inertial.calibration.GyroscopeBiasUncertaintySource gyroscopeBiasUncertaintySource)
      Sets source of estimated gyroscope bias uncertainty.
      Parameters:
      gyroscopeBiasUncertaintySource - source of estimated gyroscope bias uncertainty.

    • getAttitudeUncertaintySource

      public AttitudeUncertaintySource getAttitudeUncertaintySource()
      Gets source of attitude uncertainty.
      Returns:
      source of attitude uncertainty.

    • setAttitudeUncertaintySource

      public void setAttitudeUncertaintySource(AttitudeUncertaintySource attitudeUncertaintySource)
      Sets source of attitude uncertainty.
      Parameters:
      attitudeUncertaintySource - source of attitude uncertainty.

    • getVelocityUncertaintySource

      public VelocityUncertaintySource getVelocityUncertaintySource()
      Gets the source of velocity uncertainty.
      Returns:
      source of velocity uncertainty.

    • setVelocityUncertaintySource

      public void setVelocityUncertaintySource(VelocityUncertaintySource velocityUncertaintySource)
      Sets source of velocity uncertainty.
      Parameters:
      velocityUncertaintySource - source of velocity uncertainty.

    • getPositionUncertaintySource

      public PositionUncertaintySource getPositionUncertaintySource()
      Gets the source of position uncertainty.
      Returns:
      source of position uncertainty.

    • setPositionUncertaintySource

      public void setPositionUncertaintySource(PositionUncertaintySource positionUncertaintySource)
      Sets source of position uncertainty.
      Parameters:
      positionUncertaintySource - source of position uncertainty.

    • isReady

      public boolean isReady()
      Indicates whether all sources have been provided to be able to create a INSLooselyCoupledKalmanInitializerConfig instance.
      Returns:
      true if the creator is ready, false otherwise.

    • create

      public com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig create() throws com.irurueta.navigation.NotReadyException
      Creates a INSLooselyCoupledKalmanInitializerConfig instance containing estimated parameters during calibration.
      Returns:
      instance containing initial configuration data.
      Throws:
      com.irurueta.navigation.NotReadyException - if the creator is not ready.