Package com.irurueta.navigation.inertial.calibration

Class KalmanDriftEstimator

java.lang.Object

com.irurueta.navigation.inertial.calibration.DriftEstimator

com.irurueta.navigation.inertial.calibration.KalmanDriftEstimator

public class KalmanDriftEstimator
extends DriftEstimator

Estimates accumulated drift in body orientation, position and velocity per unit of time using an INS Kalman filtered solution.

Field Summary

Fields

Modifier and Type	Field	Description
private com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig	initConfig	Configuration parameters determining initial system noise covariance matrix.
private com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig	kalmanConfig	Configuration parameters for INS Loosely Coupled Kalman filter obtained through calibration.
private com.irurueta.navigation.inertial.INSLooselyCoupledKalmanFilteredEstimator	kalmanEstimator	Internal INS loosely coupled Kalman filtered estimator to estimate accumulated body position, velocity and orientation.
private com.irurueta.navigation.inertial.INSLooselyCoupledKalmanState	state	Current Kalman filter state.

Fields inherited from class com.irurueta.navigation.inertial.calibration.DriftEstimator

currentC, currentOrientationDriftRadians, currentPositionDrift, currentPositionDriftMeters, currentVelocityDrift, currentVelocityDriftMetersPerSecond, DEFAULT_TIME_INTERVAL_SECONDS, fixedKinematics, fixer, fixKinematics, frame, invRefQ, listener, numberOfProcessedSamples, q, referenceFrame, refQ, running, timeInterval

Constructor Summary

Constructors

Constructor	Description
KalmanDriftEstimator()	Constructor.
KalmanDriftEstimator(com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(DriftEstimatorListener listener)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Constructor.
KalmanDriftEstimator(com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig, com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig, DriftEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	addBodyKinematics(com.irurueta.navigation.inertial.BodyKinematics kinematics)	Adds a sample of measured body kinematics (accelerometer and gyroscope readings) obtained from an IMU, fixes their values and uses fixed values to estimate current drift and their average values.
protected void	computeCurrentOrientationDrift()	Computes current orientation drift.
protected void	computeCurrentPositionDrift()	Computes current position drift.
protected void	computeCurrentVelocityDrift()	Computes current velocity drift.
com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig	getInitConfig()	Gets configuration parameters determining initial system noise covariance matrix.
com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig	getKalmanConfig()	Gets configuration parameters for INS Loosely Coupled Kalman filter obtained through calibration.
com.irurueta.navigation.inertial.INSLooselyCoupledKalmanState	getState()	Gets state of internal Kalman filter containing current body position, orientation and velocity after last provided body kinematics measurement.
boolean	getState(com.irurueta.navigation.inertial.INSLooselyCoupledKalmanState result)	Gets state of internal Kalman filter containing current body position, orientation and velocity after last provided body kinematics measurement.
private void	initialize()	Initializes internal frame and Kalman estimator when the first body kinematics measurement is provided.
boolean	isReady()	Indicates if estimator is ready to start processing additional kinematics measurements.
void	reset()	Resets this estimator to its initial state.
void	setInitConfig(com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)	Sets configuration parameters determining initial system noise covariance matrix.
void	setKalmanConfig(com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig)	Sets configuration parameters for INS Loosely Coupled Kalman filter obtained through calibration.

Methods inherited from class com.irurueta.navigation.inertial.calibration.DriftEstimator

getAccelerationBias, getAccelerationBias, getAccelerationBiasArray, getAccelerationBiasArray, getAccelerationBiasAsTriad, getAccelerationBiasAsTriad, getAccelerationBiasX, getAccelerationBiasXAsAcceleration, getAccelerationBiasXAsAcceleration, getAccelerationBiasY, getAccelerationBiasYAsAcceleration, getAccelerationBiasYAsAcceleration, getAccelerationBiasZ, getAccelerationBiasZAsAcceleration, getAccelerationBiasZAsAcceleration, getAccelerationCrossCouplingErrors, getAccelerationCrossCouplingErrors, getAccelerationMxy, getAccelerationMxz, getAccelerationMyx, getAccelerationMyz, getAccelerationMzx, getAccelerationMzy, getAccelerationSx, getAccelerationSy, getAccelerationSz, getAngularSpeedBias, getAngularSpeedBias, getAngularSpeedBiasArray, getAngularSpeedBiasArray, getAngularSpeedBiasAsTriad, getAngularSpeedBiasAsTriad, getAngularSpeedBiasX, getAngularSpeedBiasXAsAngularSpeed, getAngularSpeedBiasXAsAngularSpeed, getAngularSpeedBiasY, getAngularSpeedBiasYAsAngularSpeed, getAngularSpeedBiasYAsAngularSpeed, getAngularSpeedBiasZ, getAngularSpeedBiasZAsAngularSpeed, getAngularSpeedBiasZAsAngularSpeed, getAngularSpeedCrossCouplingErrors, getAngularSpeedCrossCouplingErrors, getAngularSpeedGDependantCrossBias, getAngularSpeedGDependantCrossBias, getAngularSpeedMxy, getAngularSpeedMxz, getAngularSpeedMyx, getAngularSpeedMyz, getAngularSpeedMzx, getAngularSpeedMzy, getAngularSpeedSx, getAngularSpeedSy, getAngularSpeedSz, getCurrentOrientationDrift, getCurrentOrientationDrift, getCurrentOrientationDriftAngle, getCurrentOrientationDriftAngle, getCurrentOrientationDriftPerTimeUnit, getCurrentOrientationDriftPerTimeUnitAsAngularSpeed, getCurrentOrientationDriftPerTimeUnitAsAngularSpeed, getCurrentOrientationDriftRadians, getCurrentPositionDrift, getCurrentPositionDrift, getCurrentPositionDriftNorm, getCurrentPositionDriftNorm, getCurrentPositionDriftNormMeters, getCurrentPositionDriftPerTimeUnit, getCurrentPositionDriftPerTimeUnitAsSpeed, getCurrentPositionDriftPerTimeUnitAsSpeed, getCurrentVelocityDrift, getCurrentVelocityDrift, getCurrentVelocityDriftNorm, getCurrentVelocityDriftNorm, getCurrentVelocityDriftNormMetersPerSecond, getCurrentVelocityDriftPerTimeUnit, getCurrentVelocityDriftPerTimeUnitAsAcceleration, getCurrentVelocityDriftPerTimeUnitAsAcceleration, getElapsedTime, getElapsedTime, getElapsedTimeSeconds, getListener, getNumberOfProcessedSamples, getReferenceEcefCoordinateTransformation, getReferenceEcefCoordinateTransformation, getReferenceEcefPosition, getReferenceEcefPosition, getReferenceEcefVelocity, getReferenceEcefVelocity, getReferenceFrame, getReferenceNedCoordinateTransformation, getReferenceNedCoordinateTransformation, getReferenceNedFrame, getReferenceNedFrame, getReferenceNedPosition, getReferenceNedPosition, getReferenceNedVelocity, getReferenceNedVelocity, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, isFixKinematicsEnabled, isRunning, setAccelerationBias, setAccelerationBias, setAccelerationBias, setAccelerationBias, setAccelerationBias, setAccelerationBiasX, setAccelerationBiasX, setAccelerationBiasY, setAccelerationBiasY, setAccelerationBiasZ, setAccelerationBiasZ, setAccelerationCrossCouplingErrors, setAccelerationCrossCouplingErrors, setAccelerationMxy, setAccelerationMxz, setAccelerationMyx, setAccelerationMyz, setAccelerationMzx, setAccelerationMzy, setAccelerationScalingFactors, setAccelerationScalingFactorsAndCrossCouplingErrors, setAccelerationSx, setAccelerationSy, setAccelerationSz, setAngularSpeedBias, setAngularSpeedBias, setAngularSpeedBias, setAngularSpeedBias, setAngularSpeedBias, setAngularSpeedBiasX, setAngularSpeedBiasX, setAngularSpeedBiasY, setAngularSpeedBiasY, setAngularSpeedBiasZ, setAngularSpeedBiasZ, setAngularSpeedCrossCouplingErrors, setAngularSpeedCrossCouplingErrors, setAngularSpeedGDependantCrossBias, setAngularSpeedMxy, setAngularSpeedMxz, setAngularSpeedMyx, setAngularSpeedMyz, setAngularSpeedMzx, setAngularSpeedMzy, setAngularSpeedScalingFactors, setAngularSpeedScalingFactorsAndCrossCouplingErrors, setAngularSpeedSx, setAngularSpeedSy, setAngularSpeedSz, setFixKinematicsEnabled, setListener, setReferenceEcefCoordinateTransformation, setReferenceEcefPosition, setReferenceEcefVelocity, setReferenceFrame, setReferenceNedCoordinateTransformation, setReferenceNedFrame, setReferenceNedPosition, setReferenceNedVelocity, setTimeInterval, setTimeInterval

Methods inherited from class java.lang.Object

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

Field Details

kalmanConfig

private com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig

Configuration parameters for INS Loosely Coupled Kalman filter obtained through calibration.

initConfig

private com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig

Configuration parameters determining initial system noise covariance matrix.

kalmanEstimator

private com.irurueta.navigation.inertial.INSLooselyCoupledKalmanFilteredEstimator kalmanEstimator

Internal INS loosely coupled Kalman filtered estimator to estimate accumulated body position, velocity and orientation.

state

private com.irurueta.navigation.inertial.INSLooselyCoupledKalmanState state

Current Kalman filter state.

Constructor Details

KalmanDriftEstimator

public KalmanDriftEstimator()

Constructor.

KalmanDriftEstimator

public KalmanDriftEstimator(DriftEstimatorListener listener)

Constructor.

Parameters:

listener - listener to handle events.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)

Constructor.

Parameters:

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)

Constructor.

Parameters:

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in ECEF coordinates.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in ECEF coordinates.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in NED coordinates.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in NED coordinates.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in ECEF coordinates.

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in ECEF coordinates.

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in ECEF coordinates.

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in ECEF coordinates.

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in ECEF coordinates.

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in ECEF coordinates.

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in ECEF coordinates.

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.ECEFFrame referenceFrame,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in ECEF coordinates.

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in NED coordinates.

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in NED coordinates.

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in NED coordinates.

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in NED coordinates.

ba - acceleration bias to be set.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in NED coordinates.

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in NED coordinates.

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in NED coordinates.

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

KalmanDriftEstimator

public KalmanDriftEstimator(com.irurueta.navigation.frames.NEDFrame referenceFrame,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig,
 com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig,
 DriftEstimatorListener listener)
                     throws com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

referenceFrame - initial frame containing body position, velocity and orientation expressed in ECEF coordinates.

ba - acceleration bias to be set expressed in meters per squared second (m/s`2). Must be 3x1.

ma - acceleration cross-coupling errors matrix. Must be 3x3.

bg - angular speed bias to be set expressed in radians per second (rad/s). Must be 3x1.

mg - angular speed cross-coupling errors matrix. Must be 3x3.

gg - angular speed g-dependent cross-biases matrix. Must be 3x3.

kalmanConfig - configuration parameters obtained through calibration.

initConfig - configuration parameters determining initial system noise covariance matrix.

listener - listener to handle events.

Throws:

com.irurueta.algebra.AlgebraException - if provided cross-coupling matrices cannot be inverted.

IllegalArgumentException - if any of the provided matrices are not 3x3.

Method Details

getKalmanConfig

public com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig getKalmanConfig()

Gets configuration parameters for INS Loosely Coupled Kalman filter obtained through calibration.

Returns:

configuration parameters for Kalman filter or null.

setKalmanConfig

public void setKalmanConfig(com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig kalmanConfig)
                     throws com.irurueta.navigation.LockedException

Sets configuration parameters for INS Loosely Coupled Kalman filter obtained through calibration.

Parameters:

kalmanConfig - configuration parameters for Kalman filter.

Throws:

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

getInitConfig

public com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig getInitConfig()

Gets configuration parameters determining initial system noise covariance matrix.

Returns:

configuration parameters determining initial system noise covariance matrix or null.

setInitConfig

public void setInitConfig(com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig initConfig)
                   throws com.irurueta.navigation.LockedException

Sets configuration parameters determining initial system noise covariance matrix.

Parameters:

initConfig - configuration parameters determining initial system noise covariance matrix.

Throws:

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

isReady

public boolean isReady()

Indicates if estimator is ready to start processing additional kinematics measurements.

Overrides:

isReady in class DriftEstimator

Returns:

true if ready, false otherwise.

addBodyKinematics

public void addBodyKinematics(com.irurueta.navigation.inertial.BodyKinematics kinematics)
                       throws com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
DriftEstimationException

Adds a sample of measured body kinematics (accelerometer and gyroscope readings) obtained from an IMU, fixes their values and uses fixed values to estimate current drift and their average values.

Overrides:

addBodyKinematics in class DriftEstimator

Parameters:

kinematics - measured body kinematics.

Throws:

com.irurueta.navigation.LockedException - if estimator is currently running.

com.irurueta.navigation.NotReadyException - if estimator is not ready.

DriftEstimationException - if estimation fails for some reason.

reset

public void reset()
           throws com.irurueta.navigation.LockedException

Resets this estimator to its initial state.

Overrides:

reset in class DriftEstimator

Throws:

com.irurueta.navigation.LockedException - if estimator is currently running.

getState

public com.irurueta.navigation.inertial.INSLooselyCoupledKalmanState getState()

Gets state of internal Kalman filter containing current body position, orientation and velocity after last provided body kinematics measurement.

Returns:

state of internal Kalman filter.

getState

public boolean getState(com.irurueta.navigation.inertial.INSLooselyCoupledKalmanState result)

Gets state of internal Kalman filter containing current body position, orientation and velocity after last provided body kinematics measurement.

Parameters:

result - instance where the result will be stored.

Returns:

true if the internal Kalman filter state is available and the result is updated, false otherwise.

initialize

private void initialize()
                 throws com.irurueta.geometry.InvalidRotationMatrixException

Initializes internal frame and Kalman estimator when the first body kinematics measurement is provided.

Throws:

com.irurueta.geometry.InvalidRotationMatrixException - if orientation cannot be determined for numerical reasons.

computeCurrentPositionDrift

protected void computeCurrentPositionDrift()

Computes current position drift.

Overrides:

computeCurrentPositionDrift in class DriftEstimator

computeCurrentVelocityDrift

protected void computeCurrentVelocityDrift()

Computes current velocity drift.

Overrides:

computeCurrentVelocityDrift in class DriftEstimator

computeCurrentOrientationDrift

protected void computeCurrentOrientationDrift()
                                       throws com.irurueta.geometry.InvalidRotationMatrixException

Computes current orientation drift.

Overrides:

computeCurrentOrientationDrift in class DriftEstimator

Throws:

com.irurueta.geometry.InvalidRotationMatrixException - if rotation cannot be accurately estimated.