Package com.irurueta.navigation.inertial.calibration

Class RandomWalkEstimator

java.lang.Object

com.irurueta.navigation.inertial.calibration.RandomWalkEstimator

All Implemented Interfaces:

AccelerometerBiasRandomWalkSource, AttitudeUncertaintySource, GyroscopeBiasRandomWalkSource, PositionNoiseStandardDeviationSource, PositionUncertaintySource, VelocityNoiseStandardDeviationSource, VelocityUncertaintySource

public class RandomWalkEstimator
extends Object
implements AccelerometerBiasRandomWalkSource, GyroscopeBiasRandomWalkSource, PositionUncertaintySource, VelocityUncertaintySource, AttitudeUncertaintySource, PositionNoiseStandardDeviationSource, VelocityNoiseStandardDeviationSource

Estimates random walk data by running this estimator while the body of IMU remains static at a given position and orientation when IMU has already been calibrated. Internally, this estimator accumulates samples for a given "drift period" to estimate accumulated drift values of position, velocity and attitude, and then repeats the process several times to estimate the mean and variance of such values. The duration of the drift period is application-dependent. It should be set to a value more or less similar to the amount of time the device won't be able to set a position by some other system (e.g., GPS, Wi-Fi, cameras, etc...)

Field Summary

Fields

Modifier and Type	Field	Description
private final com.irurueta.navigation.inertial.calibration.AccelerationTriad	accelerationTriad	Contains acceleration triad to be reused for bias norm estimation.
private double	accelerometerBiasPSD	Accelerometer bias random walk PSD (Power Spectral Density) expressed in (m^2 * s^-5).
private final com.irurueta.navigation.inertial.calibration.AngularSpeedTriad	angularSpeedTriad	Contains angular speed triad to be reused for bias norm estimation.
private double	avgAttitudeDrift	Average attitude drift expressed in radians (rad).
private double	avgPositionDrift	Average position drift expressed in meters (m).
private double	avgVelocityDrift	Average velocity drift expressed in meters per second (m/s).
private final com.irurueta.navigation.inertial.calibration.bias.BodyKinematicsBiasEstimator	biasEstimator	Estimates bias for fixed body kinematics measurements to determine further bias variations while the IMU body remains static.
static final int	DEFAULT_DRIFT_PERIOD_SAMPLES	Number of samples to be used by default on each drift period.
private final DriftEstimator	driftEstimator	Estimates amount of position, velocity and orientation drift.
private int	driftPeriodSamples	Number of samples to be used on each drift period.
private final com.irurueta.navigation.inertial.BodyKinematics	fixedKinematics	Instance containing the last fixed body kinematics to be reused.
private final com.irurueta.navigation.inertial.calibration.BodyKinematicsFixer	fixer	Fixes body kinematics measurements using accelerometer and gyroscope calibration data to fix measurements.
private boolean	fixKinematics	Indicates whether measured kinematics must be fixed or not.
private double	gyroBiasPSD	Gyro bias random walk PSD (Power Spectral Density) expressed in (rad^2 * s^-3).
private RandomWalkEstimatorListener	listener	Listener to handle events raised by this estimator.
private int	numberOfProcessedDriftPeriods	Number of drift periods that have been processed.
private boolean	running	Indicates whether this estimator is running or not.
private double	varAttitudeDrift	Attitude variance expressed in squared radians (rad^2).
private double	varPositionDrift	Position variance expressed in square meters (m^2).
private double	varVelocityDrift	Velocity variance expressed in (m^2/s^2).

Constructor Summary

Constructors

Constructor	Description
RandomWalkEstimator()	Constructor.
RandomWalkEstimator(com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg)	Constructor.
RandomWalkEstimator(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)	Constructor.
RandomWalkEstimator(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, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, double timeInterval)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, double timeInterval, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, double timeInterval)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, double timeInterval, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, double timeInterval)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, double timeInterval, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, double timeInterval)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, double timeInterval, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, double timeInterval)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, double timeInterval, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, double timeInterval)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, double timeInterval, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix mg, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, double timeInterval)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, double timeInterval, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, double timeInterval)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, double timeInterval, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, 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, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg)	Constructor.
RandomWalkEstimator(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)	Constructor.
RandomWalkEstimator(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, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba, com.irurueta.algebra.Matrix ma, com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg, com.irurueta.algebra.Matrix mg, RandomWalkEstimatorListener listener)	Constructor.
RandomWalkEstimator(RandomWalkEstimatorListener 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 any additional existing bias or position and velocity variation while the IMU body remains static.
com.irurueta.algebra.Matrix	getAccelerationBias()	Gets acceleration bias values expressed in meters per squared second (m/s^2).
void	getAccelerationBias(com.irurueta.algebra.Matrix result)	Gets acceleration bias values expressed in meters per squared second (m/s^2).
double[]	getAccelerationBiasArray()	Gets acceleration bias values expressed in meters per squared second (m/s^2).
void	getAccelerationBiasArray(double[] result)	Gets acceleration bias values expressed in meters per squared second (m/s^2).
com.irurueta.navigation.inertial.calibration.AccelerationTriad	getAccelerationBiasAsTriad()	Gets acceleration bias.
void	getAccelerationBiasAsTriad(com.irurueta.navigation.inertial.calibration.AccelerationTriad result)	Gets acceleration bias.
double	getAccelerationBiasX()	Gets acceleration x-coordinate of bias expressed in meters per squared second (m/s^2).
com.irurueta.units.Acceleration	getAccelerationBiasXAsAcceleration()	Gets acceleration x-coordinate of bias.
void	getAccelerationBiasXAsAcceleration(com.irurueta.units.Acceleration result)	Gets acceleration x-coordinate of bias.
double	getAccelerationBiasY()	Gets acceleration y-coordinate of bias expressed in meters per squared second (m/s^2).
com.irurueta.units.Acceleration	getAccelerationBiasYAsAcceleration()	Gets acceleration y-coordinate of bias.
void	getAccelerationBiasYAsAcceleration(com.irurueta.units.Acceleration result)	Gets acceleration y-coordinate of bias.
double	getAccelerationBiasZ()	Gets acceleration z-coordinate of bias expressed in meters per squared second (m/s^2).
com.irurueta.units.Acceleration	getAccelerationBiasZAsAcceleration()	Gets acceleration z-coordinate of bias.
void	getAccelerationBiasZAsAcceleration(com.irurueta.units.Acceleration result)	Gets acceleration z-coordinate of bias.
com.irurueta.algebra.Matrix	getAccelerationCrossCouplingErrors()	Gets acceleration cross-coupling errors matrix.
void	getAccelerationCrossCouplingErrors(com.irurueta.algebra.Matrix result)	Gets acceleration cross-coupling errors matrix.
double	getAccelerationMxy()	Gets acceleration x-y cross-coupling error.
double	getAccelerationMxz()	Gets acceleration x-z cross-coupling error.
double	getAccelerationMyx()	Gets acceleration y-x cross-coupling error.
double	getAccelerationMyz()	Gets acceleration y-z cross-coupling error.
double	getAccelerationMzx()	Gets acceleration z-x cross-coupling error.
double	getAccelerationMzy()	Gets acceleration z-y cross-coupling error.
double	getAccelerationSx()	Gets acceleration x scaling factor.
double	getAccelerationSy()	Gets acceleration y scaling factor.
double	getAccelerationSz()	Gets acceleration z scaling factor.
double	getAccelerometerBiasPSD()	Gets estimated accelerometer bias random walk PSD (Power Spectral Density) expressed in (m^2 * s^-5).
com.irurueta.algebra.Matrix	getAngularSpeedBias()	Gets angular speed bias values expressed in radians per second (rad/s).
void	getAngularSpeedBias(com.irurueta.algebra.Matrix result)	Gets angular speed bias values expressed in radians per second (rad/s).
double[]	getAngularSpeedBiasArray()	Gets angular speed bias values expressed in radians per second (rad/s).
void	getAngularSpeedBiasArray(double[] result)	Gets angular speed bias values expressed in radians per second (rad/s).
com.irurueta.navigation.inertial.calibration.AngularSpeedTriad	getAngularSpeedBiasAsTriad()	Gets angular speed bias.
void	getAngularSpeedBiasAsTriad(com.irurueta.navigation.inertial.calibration.AngularSpeedTriad result)	Gets angular speed bias.
double	getAngularSpeedBiasX()	Gets angular speed x-coordinate of bias expressed in radians per second (rad/s).
com.irurueta.units.AngularSpeed	getAngularSpeedBiasXAsAngularSpeed()	Gets angular speed x-coordinate of bias.
void	getAngularSpeedBiasXAsAngularSpeed(com.irurueta.units.AngularSpeed result)	Gets angular speed x-coordinate of bias.
double	getAngularSpeedBiasY()	Gets angular speed y-coordinate of bias expressed in radians per second (rad/s).
com.irurueta.units.AngularSpeed	getAngularSpeedBiasYAsAngularSpeed()	Gets angular speed y-coordinate of bias.
void	getAngularSpeedBiasYAsAngularSpeed(com.irurueta.units.AngularSpeed result)	Gets angular speed y-coordinate of bias.
double	getAngularSpeedBiasZ()	Gets angular speed z-coordinate of bias expressed in radians per second (rad/s).
com.irurueta.units.AngularSpeed	getAngularSpeedBiasZAsAngularSpeed()	Gets angular speed z-coordinate of bias.
void	getAngularSpeedBiasZAsAngularSpeed(com.irurueta.units.AngularSpeed result)	Gets angular speed z-coordinate of bias.
com.irurueta.algebra.Matrix	getAngularSpeedCrossCouplingErrors()	Gets angular speed cross-coupling errors matrix.
void	getAngularSpeedCrossCouplingErrors(com.irurueta.algebra.Matrix result)	Gets angular speed cross-coupling errors matrix.
com.irurueta.algebra.Matrix	getAngularSpeedGDependantCrossBias()	Gets angular speed g-dependant cross biases matrix.
void	getAngularSpeedGDependantCrossBias(com.irurueta.algebra.Matrix result)	Gets angular speed g-dependant cross biases matrix.
double	getAngularSpeedMxy()	Gets angular speed x-y cross-coupling error.
double	getAngularSpeedMxz()	Gets angular speed x-z cross-coupling error.
double	getAngularSpeedMyx()	Gets angular speed y-x cross-coupling error.
double	getAngularSpeedMyz()	Gets angular speed y-z cross-coupling error.
double	getAngularSpeedMzx()	Gets angular speed z-x cross-coupling error.
double	getAngularSpeedMzy()	Gets angular speed z-y cross-coupling error.
double	getAngularSpeedSx()	Gets angular speed x scaling factor.
double	getAngularSpeedSy()	Gets angular speed y scaling factor.
double	getAngularSpeedSz()	Gets angular speed z scaling factor.
double	getAttitudeNoiseStandardDeviation()	Gets standard deviation of attitude noise expressed in radians (rad).
com.irurueta.units.Angle	getAttitudeNoiseStandardDeviationAsAngle()	Gets standard deviation of attitude noise.
void	getAttitudeNoiseStandardDeviationAsAngle(com.irurueta.units.Angle result)	Gets standard deviation of attitude noise.
double	getAttitudeNoiseVariance()	Gets estimated attitude noise variance expressed in squared radians (rad^2).
double	getAttitudeUncertainty()	Gets attitude uncertainty expressed in radians (rad).
com.irurueta.units.Angle	getAttitudeUncertaintyAsAngle()	Gets attitude uncertainty.
void	getAttitudeUncertaintyAsAngle(com.irurueta.units.Angle result)	Gets attitude uncertainty.
com.irurueta.units.Time	getDriftPeriod()	Gets the duration of each drift period.
void	getDriftPeriod(com.irurueta.units.Time result)	Gets the duration of each drift period.
int	getDriftPeriodSamples()	Gets the number of samples to be used on each drift period.
double	getDriftPeriodSeconds()	Gets the duration of each drift period expressed in seconds (s).
com.irurueta.navigation.frames.CoordinateTransformation	getEcefC()	Gets current body orientation as a transformation from body to ECEF coordinates.
void	getEcefC(com.irurueta.navigation.frames.CoordinateTransformation result)	Gets current body orientation as a transformation from body to ECEF coordinates.
com.irurueta.navigation.frames.ECEFFrame	getEcefFrame()	Gets ECEF frame containing current body position and orientation expressed in ECEF coordinates.
void	getEcefFrame(com.irurueta.navigation.frames.ECEFFrame result)	Gets ECEF frame containing current body position and orientation expressed in ECEF coordinates.
com.irurueta.navigation.frames.ECEFPosition	getEcefPosition()	Gets current body position expressed in ECEF coordinates.
void	getEcefPosition(com.irurueta.navigation.frames.ECEFPosition result)	Gets current body position expressed in ECEF coordinates.
com.irurueta.units.Time	getElapsedTime()	Gets the amount of total elapsed time since the first processed measurement.
void	getElapsedTime(com.irurueta.units.Time result)	Gets the amount of total elapsed time since the first processed measurement.
double	getElapsedTimeSeconds()	Gets amount of total elapsed time since the first processed measurement expressed in seconds (s).
com.irurueta.navigation.inertial.BodyKinematics	getFixedKinematics()	Gets last added kinematics after being fixed using provided calibration data.
void	getFixedKinematics(com.irurueta.navigation.inertial.BodyKinematics result)	Gets last added kinematics after being fixed using provided calibration data.
double	getGyroBiasPSD()	Gets estimated gyro bias random walk PSD (Power Spectral Density) expressed in (rad^2 * s^-3).
RandomWalkEstimatorListener	getListener()	Gets listener to handle events raised by this estimator.
com.irurueta.navigation.frames.CoordinateTransformation	getNedC()	Gets current body orientation as a transformation from body to NED coordinates.
void	getNedC(com.irurueta.navigation.frames.CoordinateTransformation result)	Gets current body orientation as a transformation from body to NED coordinates.
com.irurueta.navigation.frames.NEDFrame	getNedFrame()	Gets NED frame containing current body position and orientation expressed in NED coordinates.
void	getNedFrame(com.irurueta.navigation.frames.NEDFrame result)	Gets NED frame containing current body position and orientation expressed in NED coordinates.
com.irurueta.navigation.frames.NEDPosition	getNedPosition()	Gets current body position expressed in NED coordinates.
void	getNedPosition(com.irurueta.navigation.frames.NEDPosition result)	Gets current body position expressed in NED coordinates.
int	getNumberOfProcessedDriftPeriods()	Gets the number of drift periods that have been processed.
int	getNumberOfProcessedSamples()	Gets the number of samples that have been processed so far.
double	getPositionNoiseStandardDeviation()	Gets standard deviation of position noise expressed in meters (m).
com.irurueta.units.Distance	getPositionNoiseStandardDeviationAsDistance()	Gets standard deviation of position noise.
void	getPositionNoiseStandardDeviationAsDistance(com.irurueta.units.Distance result)	Gets standard deviation of position noise.
double	getPositionNoiseVariance()	Gets estimated position noise variance expressed in square meters (m^2).
double	getPositionUncertainty()	Gets position uncertainty expressed in meters (m).
com.irurueta.units.Distance	getPositionUncertaintyAsDistance()	Gets position uncertainty.
void	getPositionUncertaintyAsDistance(com.irurueta.units.Distance result)	Gets position uncertainty.
double	getTimeInterval()	Gets the time interval between body kinematics (IMU acceleration and gyroscope) samples expressed in seconds (s).
com.irurueta.units.Time	getTimeIntervalAsTime()	Gets time interval between body kinematics (IMU acceleration and gyroscope) samples.
void	getTimeIntervalAsTime(com.irurueta.units.Time result)	Gets time interval between body kinematics (IMU acceleration and gyroscope) samples.
double	getVelocityNoiseStandardDeviation()	Gets standard deviation of velocity noise expressed in meters per second (m/s).
com.irurueta.units.Speed	getVelocityNoiseStandardDeviationAsSpeed()	Gets standard deviation of velocity noise.
void	getVelocityNoiseStandardDeviationAsSpeed(com.irurueta.units.Speed result)	Gets standard deviation of velocity noise.
double	getVelocityNoiseVariance()	Gets estimated velocity noise variance expressed in (m^2/s^2).
double	getVelocityUncertainty()	Gets velocity uncertainty expressed in meters per second (m/s).
com.irurueta.units.Speed	getVelocityUncertaintyAsSpeed()	Gets velocity uncertainty.
void	getVelocityUncertaintyAsSpeed(com.irurueta.units.Speed result)	Gets velocity uncertainty.
boolean	isFixKinematicsEnabled()	Indicates whether measured kinematics must be fixed or not.
boolean	isReady()	Indicates if estimator is ready to start processing additional kinematics measurements.
boolean	isRunning()	Indicates whether this estimator is running or not.
boolean	reset()	Resets current estimator.
void	setAccelerationBias(double[] bias)	Sets acceleration bias values expressed in meters per squared second (m/s^2).
void	setAccelerationBias(double biasX, double biasY, double biasZ)	Sets acceleration coordinates of bias expressed in meters per squared second (m/s^2).
void	setAccelerationBias(com.irurueta.algebra.Matrix bias)	Sets acceleration bias values expressed in meters per squared second (m/s^2).
void	setAccelerationBias(com.irurueta.navigation.inertial.calibration.AccelerationTriad bias)	Sets acceleration bias.
void	setAccelerationBias(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)	Sets acceleration coordinates of bias.
void	setAccelerationBiasX(double biasX)	Sets acceleration x-coordinate of bias expressed in meters per squared second (m/s^2).
void	setAccelerationBiasX(com.irurueta.units.Acceleration biasX)	Sets acceleration x-coordinate of bias.
void	setAccelerationBiasY(double biasY)	Sets acceleration y-coordinate of bias expressed in meters per squared second (m/s^2).
void	setAccelerationBiasY(com.irurueta.units.Acceleration biasY)	Sets acceleration y-coordinate of bias.
void	setAccelerationBiasZ(double biasZ)	Sets acceleration z-coordinate of bias expressed in meters per squared second (m/s^2).
void	setAccelerationBiasZ(com.irurueta.units.Acceleration biasZ)	Sets acceleration z-coordinate of bias.
void	setAccelerationCrossCouplingErrors(double mxy, double mxz, double myx, double myz, double mzx, double mzy)	Sets acceleration cross-coupling errors.
void	setAccelerationCrossCouplingErrors(com.irurueta.algebra.Matrix crossCouplingErrors)	Sets acceleration cross-coupling errors matrix.
void	setAccelerationMxy(double mxy)	Sets acceleration x-y cross-coupling error.
void	setAccelerationMxz(double mxz)	Sets acceleration x-z cross-coupling error.
void	setAccelerationMyx(double myx)	Sets acceleration y-x cross-coupling error.
void	setAccelerationMyz(double myz)	Sets acceleration y-z cross-coupling error.
void	setAccelerationMzx(double mzx)	Sets acceleration z-x cross-coupling error.
void	setAccelerationMzy(double mzy)	Sets acceleration z-y cross-coupling error.
void	setAccelerationScalingFactors(double sx, double sy, double sz)	Sets acceleration scaling factors.
void	setAccelerationScalingFactorsAndCrossCouplingErrors(double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy)	Sets acceleration scaling factors and cross-coupling errors.
void	setAccelerationSx(double sx)	Sets acceleration x scaling factor.
void	setAccelerationSy(double sy)	Sets acceleration y scaling factor.
void	setAccelerationSz(double sz)	Sets acceleration z scaling factor.
void	setAngularSpeedBias(double[] bias)	Sets angular speed bias values expressed in radians per second (rad/s).
void	setAngularSpeedBias(double biasX, double biasY, double biasZ)	Sets angular speed coordinates of bias expressed in radians per second (rad/s).
void	setAngularSpeedBias(com.irurueta.algebra.Matrix bias)	Sets angular speed bias values expressed in radians per second (rad/s).
void	setAngularSpeedBias(com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bias)	Sets angular speed bias.
void	setAngularSpeedBias(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)	Sets angular speed coordinates of bias.
void	setAngularSpeedBiasX(double biasX)	Sets angular speed x-coordinate of bias expressed in radians per second (rad/s).
void	setAngularSpeedBiasX(com.irurueta.units.AngularSpeed biasX)	Sets angular speed x-coordinate of bias.
void	setAngularSpeedBiasY(double biasY)	Sets angular speed y-coordinate of bias expressed in radians per second (rad/s).
void	setAngularSpeedBiasY(com.irurueta.units.AngularSpeed biasY)	Sets angular speed y-coordinate of bias.
void	setAngularSpeedBiasZ(double biasZ)	Sets angular speed z-coordinate of bias expressed in radians per second (rad/s).
void	setAngularSpeedBiasZ(com.irurueta.units.AngularSpeed biasZ)	Sets angular speed z-coordinate of bias.
void	setAngularSpeedCrossCouplingErrors(double mxy, double mxz, double myx, double myz, double mzx, double mzy)	Sets angular speed cross-coupling errors.
void	setAngularSpeedCrossCouplingErrors(com.irurueta.algebra.Matrix crossCouplingErrors)	Sets angular speed cross-coupling errors matrix.
void	setAngularSpeedGDependantCrossBias(com.irurueta.algebra.Matrix gDependantCrossBias)	Sets angular speed g-dependant cross biases matrix.
void	setAngularSpeedMxy(double mxy)	Sets angular speed x-y cross-coupling error.
void	setAngularSpeedMxz(double mxz)	Sets angular speed x-z cross-coupling error.
void	setAngularSpeedMyx(double myx)	Sets angular speed y-x cross-coupling error.
void	setAngularSpeedMyz(double myz)	Sets angular speed y-z cross-coupling error.
void	setAngularSpeedMzx(double mzx)	Sets angular speed z-x cross-coupling error.
void	setAngularSpeedMzy(double mzy)	Sets angular speed z-y cross-coupling error.
void	setAngularSpeedScalingFactors(double sx, double sy, double sz)	Sets angular speed scaling factors.
void	setAngularSpeedScalingFactorsAndCrossCouplingErrors(double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy)	Sets angular speed scaling factors and cross-coupling errors.
void	setAngularSpeedSx(double sx)	Sets angular speed x scaling factor.
void	setAngularSpeedSy(double sy)	Sets angular speed y-scaling factor.
void	setAngularSpeedSz(double sz)	Sets angular speed z scaling factor.
void	setDriftPeriodSamples(int driftPeriodSamples)	Sets the number of samples to be used on each drift period.
void	setEcefC(com.irurueta.navigation.frames.CoordinateTransformation ecefC)	Sets current body orientation as a transformation from body to ECEF coordinates.
void	setEcefPosition(double x, double y, double z)	Sets current body position expressed in ECEF coordinates.
void	setEcefPosition(com.irurueta.geometry.Point3D position)	Sets current body position expressed in ECEF coordinates.
void	setEcefPosition(com.irurueta.navigation.frames.ECEFPosition position)	Sets current body position expressed in ECEF coordinates.
void	setEcefPosition(com.irurueta.units.Distance x, com.irurueta.units.Distance y, com.irurueta.units.Distance z)	Sets current body position expressed in ECEF coordinates.
void	setEcefPositionAndEcefOrientation(double x, double y, double z, com.irurueta.navigation.frames.CoordinateTransformation ecefC)	Sets position and orientation both expressed on ECEF coordinates.
void	setEcefPositionAndEcefOrientation(com.irurueta.geometry.Point3D position, com.irurueta.navigation.frames.CoordinateTransformation ecefC)	Sets position and orientation both expressed on ECEF coordinates.
void	setEcefPositionAndEcefOrientation(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation ecefC)	Sets position and orientation both expressed on ECEF coordinates.
void	setEcefPositionAndEcefOrientation(com.irurueta.units.Distance x, com.irurueta.units.Distance y, com.irurueta.units.Distance z, com.irurueta.navigation.frames.CoordinateTransformation ecefC)	Sets position and orientation both expressed on ECEF coordinates.
void	setEcefPositionAndNedOrientation(double x, double y, double z, com.irurueta.navigation.frames.CoordinateTransformation nedC)	Sets position expressed on ECEF coordinates and orientation with respect to NED axes.
void	setEcefPositionAndNedOrientation(com.irurueta.geometry.Point3D position, com.irurueta.navigation.frames.CoordinateTransformation nedC)	Sets position expressed on ECEF coordinates and orientation with respect to NED axes.
void	setEcefPositionAndNedOrientation(com.irurueta.navigation.frames.ECEFPosition ecefPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC)	Sets position expressed on ECEF coordinates and orientation with respect to NED axes.
void	setEcefPositionAndNedOrientation(com.irurueta.units.Distance x, com.irurueta.units.Distance y, com.irurueta.units.Distance z, com.irurueta.navigation.frames.CoordinateTransformation nedC)	Sets position expressed on ECEF coordinates and orientation with respect to NED axes.
void	setFixKinematicsEnabled(boolean fixKinematics)	Specifies whether measured kinematics must be fixed or not.
void	setListener(RandomWalkEstimatorListener listener)	Sets listener to handle events raised by this estimator.
void	setNedC(com.irurueta.navigation.frames.CoordinateTransformation nedC)	Sets current body orientation as a transformation from body to NED coordinates.
void	setNedPosition(double latitude, double longitude, double height)	Sets current body position expressed in NED coordinates.
void	setNedPosition(com.irurueta.navigation.frames.NEDPosition position)	Sets current body position expressed in NED coordinates.
void	setNedPosition(com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, double height)	Sets current body position expressed in NED coordinates.
void	setNedPosition(com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Sets current body position expressed in NED coordinates.
void	setNedPositionAndEcefOrientation(double latitude, double longitude, double height, com.irurueta.navigation.frames.CoordinateTransformation ecefC)	Sets position expressed on NED coordinates and orientation with respect to ECEF axes.
void	setNedPositionAndEcefOrientation(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.CoordinateTransformation ecefC)	Sets position expressed on NED coordinates and orientation with respect to ECEF axes.
void	setNedPositionAndEcefOrientation(com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, double height, com.irurueta.navigation.frames.CoordinateTransformation ecefC)	Sets position expressed on NED coordinates and orientation with respect to ECEF axes.
void	setNedPositionAndEcefOrientation(com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.CoordinateTransformation ecefC)	Sets position expressed on NED coordinates and orientation with respect to ECEF axes.
void	setNedPositionAndNedOrientation(double latitude, double longitude, double height, com.irurueta.navigation.frames.CoordinateTransformation nedC)	Sets position and orientation both expressed on NED coordinates.
void	setNedPositionAndNedOrientation(com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation nedC)	Sets position and orientation both expressed on NED coordinates.
void	setNedPositionAndNedOrientation(com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, double height, com.irurueta.navigation.frames.CoordinateTransformation nedC)	Sets position and orientation both expressed on NED coordinates.
void	setNedPositionAndNedOrientation(com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.CoordinateTransformation nedC)	Sets position and orientation both expressed on NED coordinates.
void	setTimeInterval(double timeInterval)	Sets a time interval between body kinematics (IMU acceleration and gyroscope) samples expressed in seconds (s).
void	setTimeInterval(com.irurueta.units.Time timeInterval)	Sets time interval between body kinematics (IMU acceleration and gyroscope) samples.

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_DRIFT_PERIOD_SAMPLES

public static final int DEFAULT_DRIFT_PERIOD_SAMPLES

Number of samples to be used by default on each drift period.

See Also:

• Constant Field Values

listener

private RandomWalkEstimatorListener listener

Listener to handle events raised by this estimator.

fixer

private final com.irurueta.navigation.inertial.calibration.BodyKinematicsFixer fixer

Fixes body kinematics measurements using accelerometer and gyroscope calibration data to fix measurements.

biasEstimator

private final com.irurueta.navigation.inertial.calibration.bias.BodyKinematicsBiasEstimator biasEstimator

Estimates bias for fixed body kinematics measurements to determine further bias variations while the IMU body remains static.

driftEstimator

private final DriftEstimator driftEstimator

Estimates amount of position, velocity and orientation drift.

fixedKinematics

private final com.irurueta.navigation.inertial.BodyKinematics fixedKinematics

Instance containing the last fixed body kinematics to be reused.

fixKinematics

private boolean fixKinematics

Indicates whether measured kinematics must be fixed or not. When enabled, provided calibration data is used; otherwise it is ignored. By default, this is enabled.

driftPeriodSamples

private int driftPeriodSamples

Number of samples to be used on each drift period.

running

private boolean running

Indicates whether this estimator is running or not.

numberOfProcessedDriftPeriods

private int numberOfProcessedDriftPeriods

Number of drift periods that have been processed.

accelerometerBiasPSD

private double accelerometerBiasPSD

Accelerometer bias random walk PSD (Power Spectral Density) expressed in (m^2 * s^-5).

gyroBiasPSD

private double gyroBiasPSD

Gyro bias random walk PSD (Power Spectral Density) expressed in (rad^2 * s^-3).

avgPositionDrift

private double avgPositionDrift

Average position drift expressed in meters (m). This gives a sign of position accuracy.

avgVelocityDrift

private double avgVelocityDrift

Average velocity drift expressed in meters per second (m/s).

avgAttitudeDrift

private double avgAttitudeDrift

Average attitude drift expressed in radians (rad).

varPositionDrift

private double varPositionDrift

Position variance expressed in square meters (m^2).

varVelocityDrift

private double varVelocityDrift

Velocity variance expressed in (m^2/s^2).

varAttitudeDrift

private double varAttitudeDrift

Attitude variance expressed in squared radians (rad^2).

accelerationTriad

private final com.irurueta.navigation.inertial.calibration.AccelerationTriad accelerationTriad

Contains acceleration triad to be reused for bias norm estimation. This is reused for efficiency.

angularSpeedTriad

private final com.irurueta.navigation.inertial.calibration.AngularSpeedTriad angularSpeedTriad

Contains angular speed triad to be reused for bias norm estimation. This is reused for efficiency.

Constructor Details

RandomWalkEstimator

public RandomWalkEstimator()

Constructor.

RandomWalkEstimator

public RandomWalkEstimator(RandomWalkEstimatorListener listener)

Constructor.

Parameters:

listener - listener to handle events.

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg)
                    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.

Throws:

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 RandomWalkEstimatorListener 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.

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.

RandomWalkEstimator

public RandomWalkEstimator(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)
                    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.

Throws:

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

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

RandomWalkEstimator

public RandomWalkEstimator(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,
 RandomWalkEstimatorListener 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.

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.

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg)
                    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.

Throws:

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

IllegalArgumentException - if any of the provided matrices do not have a proper size.

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 RandomWalkEstimatorListener 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.

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 do not have a proper size.

RandomWalkEstimator

public RandomWalkEstimator(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)
                    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.

Throws:

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

IllegalArgumentException - if any of the provided matrices do not have a proper size.

RandomWalkEstimator

public RandomWalkEstimator(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,
 RandomWalkEstimatorListener 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.

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 do not have a proper size.

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 double timeInterval)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 double timeInterval,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 double timeInterval)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

IllegalArgumentException - if provided, matrices are not 3x3.

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 double timeInterval,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

IllegalArgumentException - if provided, matrices are not 3x3.

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 double timeInterval)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 double timeInterval,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 double timeInterval)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 double timeInterval,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 double timeInterval)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.navigation.inertial.calibration.AccelerationTriad ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bg,
 com.irurueta.algebra.Matrix mg,
 double timeInterval,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 double timeInterval)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 double timeInterval,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 double timeInterval)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 com.irurueta.algebra.Matrix bg,
 com.irurueta.algebra.Matrix mg,
 double timeInterval,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 double timeInterval)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

RandomWalkEstimator

public RandomWalkEstimator(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC,
 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,
 double timeInterval,
 RandomWalkEstimatorListener listener)
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.AlgebraException

Constructor.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

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.

timeInterval - time interval between body kinematics samples expressed in seconds (s).

listener - listener to handle events.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

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

Method Details

getListener

public RandomWalkEstimatorListener getListener()

Gets listener to handle events raised by this estimator.

Returns:

listener to handle events raised by this estimator.

setListener

public void setListener(RandomWalkEstimatorListener listener)
                 throws com.irurueta.navigation.LockedException

Sets listener to handle events raised by this estimator.

Parameters:

listener - listener to handle events raised by this estimator.

Throws:

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

getAccelerationBias

public com.irurueta.algebra.Matrix getAccelerationBias()

Gets acceleration bias values expressed in meters per squared second (m/s^2).

Returns:

bias values expressed in meters per squared second.

getAccelerationBias

public void getAccelerationBias(com.irurueta.algebra.Matrix result)

Gets acceleration bias values expressed in meters per squared second (m/s^2).

Parameters:

result - instance where the result will be stored.

setAccelerationBias

public void setAccelerationBias(com.irurueta.algebra.Matrix bias)
                         throws com.irurueta.navigation.LockedException

Sets acceleration bias values expressed in meters per squared second (m/s^2).

Parameters:

bias - bias values expressed in meters per squared second. Must be 3x1.

Throws:

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

IllegalArgumentException - if matrix is not 3x1.

getAccelerationBiasArray

public double[] getAccelerationBiasArray()

Gets acceleration bias values expressed in meters per squared second (m/s^2).

Returns:

bias values expressed in meters per squared second.

getAccelerationBiasArray

public void getAccelerationBiasArray(double[] result)

Gets acceleration bias values expressed in meters per squared second (m/s^2).

Parameters:

result - instance where result data will be stored.

Throws:

IllegalArgumentException - if provided array does not have length 3.

setAccelerationBias

public void setAccelerationBias(double[] bias)
                         throws com.irurueta.navigation.LockedException

Sets acceleration bias values expressed in meters per squared second (m/s^2).

Parameters:

bias - bias values expressed in meters per squared second (m/s^2). Must have length 3.

Throws:

IllegalArgumentException - if provided array does not have length 3.

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

getAccelerationBiasAsTriad

public com.irurueta.navigation.inertial.calibration.AccelerationTriad getAccelerationBiasAsTriad()

Gets acceleration bias.

Returns:

acceleration bias.

getAccelerationBiasAsTriad

public void getAccelerationBiasAsTriad(com.irurueta.navigation.inertial.calibration.AccelerationTriad result)

Gets acceleration bias.

Parameters:

result - instance where the result will be stored.

setAccelerationBias

public void setAccelerationBias(com.irurueta.navigation.inertial.calibration.AccelerationTriad bias)
                         throws com.irurueta.navigation.LockedException

Sets acceleration bias.

Parameters:

bias - acceleration bias to be set.

Throws:

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

getAccelerationBiasX

public double getAccelerationBiasX()

Gets acceleration x-coordinate of bias expressed in meters per squared second (m/s^2).

Returns:

x-coordinate of bias expressed in meters per squared second (m/s^2).

setAccelerationBiasX

public void setAccelerationBiasX(double biasX)
                          throws com.irurueta.navigation.LockedException

Sets acceleration x-coordinate of bias expressed in meters per squared second (m/s^2).

Parameters:

biasX - x-coordinate of bias expressed in meters per squared second (m/s^2).

Throws:

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

getAccelerationBiasY

public double getAccelerationBiasY()

Gets acceleration y-coordinate of bias expressed in meters per squared second (m/s^2).

Returns:

y-coordinate of bias expressed in meters per squared second (m/s^2).

setAccelerationBiasY

public void setAccelerationBiasY(double biasY)
                          throws com.irurueta.navigation.LockedException

Sets acceleration y-coordinate of bias expressed in meters per squared second (m/s^2).

Parameters:

biasY - y-coordinate of bias expressed in meters per squared second (m/s^2).

Throws:

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

getAccelerationBiasZ

public double getAccelerationBiasZ()

Gets acceleration z-coordinate of bias expressed in meters per squared second (m/s^2).

Returns:

z-coordinate of bias expressed in meters per squared second (m/s^2).

setAccelerationBiasZ

public void setAccelerationBiasZ(double biasZ)
                          throws com.irurueta.navigation.LockedException

Sets acceleration z-coordinate of bias expressed in meters per squared second (m/s^2).

Parameters:

biasZ - z-coordinate of bias expressed in meters per squared second (m/s^2).

Throws:

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

setAccelerationBias

public void setAccelerationBias(double biasX,
 double biasY,
 double biasZ)
                         throws com.irurueta.navigation.LockedException

Sets acceleration coordinates of bias expressed in meters per squared second (m/s^2).

Parameters:

biasX - x-coordinate of bias.

biasY - y-coordinate of bias.

biasZ - z-coordinate of bias.

Throws:

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

getAccelerationBiasXAsAcceleration

public com.irurueta.units.Acceleration getAccelerationBiasXAsAcceleration()

Gets acceleration x-coordinate of bias.

Returns:

acceleration x-coordinate of bias.

getAccelerationBiasXAsAcceleration

public void getAccelerationBiasXAsAcceleration(com.irurueta.units.Acceleration result)

Gets acceleration x-coordinate of bias.

Parameters:

result - instance where the result will be stored.

setAccelerationBiasX

public void setAccelerationBiasX(com.irurueta.units.Acceleration biasX)
                          throws com.irurueta.navigation.LockedException

Sets acceleration x-coordinate of bias.

Parameters:

biasX - acceleration x-coordinate of bias.

Throws:

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

getAccelerationBiasYAsAcceleration

public com.irurueta.units.Acceleration getAccelerationBiasYAsAcceleration()

Gets acceleration y-coordinate of bias.

Returns:

acceleration y-coordinate of bias.

getAccelerationBiasYAsAcceleration

public void getAccelerationBiasYAsAcceleration(com.irurueta.units.Acceleration result)

Gets acceleration y-coordinate of bias.

Parameters:

result - instance where the result will be stored.

setAccelerationBiasY

public void setAccelerationBiasY(com.irurueta.units.Acceleration biasY)
                          throws com.irurueta.navigation.LockedException

Sets acceleration y-coordinate of bias.

Parameters:

biasY - acceleration y-coordinate of bias.

Throws:

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

getAccelerationBiasZAsAcceleration

public com.irurueta.units.Acceleration getAccelerationBiasZAsAcceleration()

Gets acceleration z-coordinate of bias.

Returns:

acceleration z-coordinate of bias.

getAccelerationBiasZAsAcceleration

public void getAccelerationBiasZAsAcceleration(com.irurueta.units.Acceleration result)

Gets acceleration z-coordinate of bias.

Parameters:

result - instance where the result will be stored.

setAccelerationBiasZ

public void setAccelerationBiasZ(com.irurueta.units.Acceleration biasZ)
                          throws com.irurueta.navigation.LockedException

Sets acceleration z-coordinate of bias.

Parameters:

biasZ - z-coordinate of bias.

Throws:

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

setAccelerationBias

public void setAccelerationBias(com.irurueta.units.Acceleration biasX,
 com.irurueta.units.Acceleration biasY,
 com.irurueta.units.Acceleration biasZ)
                         throws com.irurueta.navigation.LockedException

Sets acceleration coordinates of bias.

Parameters:

biasX - x-coordinate of bias.

biasY - y-coordinate of bias.

biasZ - z-coordinate of bias.

Throws:

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

getAccelerationCrossCouplingErrors

public com.irurueta.algebra.Matrix getAccelerationCrossCouplingErrors()

Gets acceleration cross-coupling errors matrix.

Returns:

acceleration cross-coupling errors matrix.

getAccelerationCrossCouplingErrors

public void getAccelerationCrossCouplingErrors(com.irurueta.algebra.Matrix result)

Gets acceleration cross-coupling errors matrix.

Parameters:

result - instance where the result will be stored.

setAccelerationCrossCouplingErrors

public void setAccelerationCrossCouplingErrors(com.irurueta.algebra.Matrix crossCouplingErrors)
                                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Sets acceleration cross-coupling errors matrix.

Parameters:

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

Throws:

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

com.irurueta.algebra.AlgebraException - if matrix cannot be inverted.

IllegalArgumentException - if matrix is not 3x3.

getAccelerationSx

public double getAccelerationSx()

Gets acceleration x scaling factor.

Returns:

x scaling factor.

setAccelerationSx

public void setAccelerationSx(double sx)
                       throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration x scaling factor.

Parameters:

sx - x scaling factor.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes acceleration cross-coupling matrix non-invertible.

getAccelerationSy

public double getAccelerationSy()

Gets acceleration y scaling factor.

Returns:

y scaling factor.

setAccelerationSy

public void setAccelerationSy(double sy)
                       throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration y scaling factor.

Parameters:

sy - y scaling factor.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes acceleration cross-coupling matrix non-invertible.

getAccelerationSz

public double getAccelerationSz()

Gets acceleration z scaling factor.

Returns:

z scaling factor.

setAccelerationSz

public void setAccelerationSz(double sz)
                       throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration z scaling factor.

Parameters:

sz - z scaling factor.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes acceleration cross-coupling matrix non-invertible.

getAccelerationMxy

public double getAccelerationMxy()

Gets acceleration x-y cross-coupling error.

Returns:

acceleration x-y cross-coupling error.

setAccelerationMxy

public void setAccelerationMxy(double mxy)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration x-y cross-coupling error.

Parameters:

mxy - acceleration x-y cross-coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes acceleration cross-coupling matrix non-invertible.

getAccelerationMxz

public double getAccelerationMxz()

Gets acceleration x-z cross-coupling error.

Returns:

acceleration x-z cross-coupling error.

setAccelerationMxz

public void setAccelerationMxz(double mxz)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration x-z cross-coupling error.

Parameters:

mxz - acceleration x-z cross-coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes acceleration cross-coupling matrix non-invertible.

getAccelerationMyx

public double getAccelerationMyx()

Gets acceleration y-x cross-coupling error.

Returns:

acceleration y-x cross-coupling error.

setAccelerationMyx

public void setAccelerationMyx(double myx)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration y-x cross-coupling error.

Parameters:

myx - acceleration y-x cross-coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes acceleration cross-coupling matrix non-invertible.

getAccelerationMyz

public double getAccelerationMyz()

Gets acceleration y-z cross-coupling error.

Returns:

y-z cross coupling error.

setAccelerationMyz

public void setAccelerationMyz(double myz)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration y-z cross-coupling error.

Parameters:

myz - y-z cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes acceleration cross-coupling matrix non-invertible.

getAccelerationMzx

public double getAccelerationMzx()

Gets acceleration z-x cross-coupling error.

Returns:

acceleration z-x cross-coupling error.

setAccelerationMzx

public void setAccelerationMzx(double mzx)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration z-x cross-coupling error.

Parameters:

mzx - acceleration z-x cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes acceleration cross-coupling matrix non-invertible.

getAccelerationMzy

public double getAccelerationMzy()

Gets acceleration z-y cross-coupling error.

Returns:

acceleration z-y cross-coupling error.

setAccelerationMzy

public void setAccelerationMzy(double mzy)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration z-y cross-coupling error.

Parameters:

mzy - acceleration z-y cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes acceleration cross-coupling matrix non-invertible.

setAccelerationScalingFactors

public void setAccelerationScalingFactors(double sx,
 double sy,
 double sz)
                                   throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration scaling factors.

Parameters:

sx - x scaling factor.

sy - y scaling factor.

sz - z scaling factor.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided values make acceleration cross-coupling matrix non-invertible.

setAccelerationCrossCouplingErrors

public void setAccelerationCrossCouplingErrors(double mxy,
 double mxz,
 double myx,
 double myz,
 double mzx,
 double mzy)
                                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration cross-coupling errors.

Parameters:

mxy - x-y cross coupling error.

mxz - x-z cross coupling error.

myx - y-x cross coupling error.

myz - y-z cross coupling error.

mzx - z-x cross coupling error.

mzy - z-y cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided values make acceleration cross-coupling matrix non-invertible.

setAccelerationScalingFactorsAndCrossCouplingErrors

public void setAccelerationScalingFactorsAndCrossCouplingErrors(double sx,
 double sy,
 double sz,
 double mxy,
 double mxz,
 double myx,
 double myz,
 double mzx,
 double mzy)
                                                         throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets acceleration scaling factors and cross-coupling errors.

Parameters:

sx - x scaling factor.

sy - y scaling factor.

sz - z scaling factor.

mxy - x-y cross coupling error.

mxz - x-z cross coupling error.

myx - y-x cross coupling error.

myz - y-z cross coupling error.

mzx - z-x cross coupling error.

mzy - z-y cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided values make acceleration cross-coupling matrix non-invertible.

getAngularSpeedBias

public com.irurueta.algebra.Matrix getAngularSpeedBias()

Gets angular speed bias values expressed in radians per second (rad/s).

Returns:

angular speed bias values expressed in radians per second.

getAngularSpeedBias

public void getAngularSpeedBias(com.irurueta.algebra.Matrix result)

Gets angular speed bias values expressed in radians per second (rad/s).

Parameters:

result - instance where the result will be stored.

setAngularSpeedBias

public void setAngularSpeedBias(com.irurueta.algebra.Matrix bias)
                         throws com.irurueta.navigation.LockedException

Sets angular speed bias values expressed in radians per second (rad/s).

Parameters:

bias - bias values expressed in radians per second. Must be 3x1.

Throws:

IllegalArgumentException - if matrix is not 3x1.

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

getAngularSpeedBiasArray

public double[] getAngularSpeedBiasArray()

Gets angular speed bias values expressed in radians per second (rad/s).

Returns:

bias values expressed in radians per second.

getAngularSpeedBiasArray

public void getAngularSpeedBiasArray(double[] result)

Gets angular speed bias values expressed in radians per second (rad/s).

Parameters:

result - instance where result data will be stored.

Throws:

IllegalArgumentException - if provided array does not have length 3.

setAngularSpeedBias

public void setAngularSpeedBias(double[] bias)
                         throws com.irurueta.navigation.LockedException

Sets angular speed bias values expressed in radians per second (rad/s).

Parameters:

bias - bias values expressed in radians per second (rad/s). Must have length 3.

Throws:

IllegalArgumentException - if provided array does not have length 3.

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

getAngularSpeedBiasAsTriad

public com.irurueta.navigation.inertial.calibration.AngularSpeedTriad getAngularSpeedBiasAsTriad()

Gets angular speed bias.

Returns:

angular speed bias.

getAngularSpeedBiasAsTriad

public void getAngularSpeedBiasAsTriad(com.irurueta.navigation.inertial.calibration.AngularSpeedTriad result)

Gets angular speed bias.

Parameters:

result - instance where the result will be stored.

setAngularSpeedBias

public void setAngularSpeedBias(com.irurueta.navigation.inertial.calibration.AngularSpeedTriad bias)
                         throws com.irurueta.navigation.LockedException

Sets angular speed bias.

Parameters:

bias - angular speed bias to be set.

Throws:

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

getAngularSpeedBiasX

public double getAngularSpeedBiasX()

Gets angular speed x-coordinate of bias expressed in radians per second (rad/s).

Returns:

x-coordinate of bias expressed in radians per second (rad/s).

setAngularSpeedBiasX

public void setAngularSpeedBiasX(double biasX)
                          throws com.irurueta.navigation.LockedException

Sets angular speed x-coordinate of bias expressed in radians per second (rad/s).

Parameters:

biasX - x-coordinate of bias expressed in radians per second (rad/s).

Throws:

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

getAngularSpeedBiasY

public double getAngularSpeedBiasY()

Gets angular speed y-coordinate of bias expressed in radians per second (rad/s).

Returns:

y-coordinate of bias expressed in radians per second (rad/s).

setAngularSpeedBiasY

public void setAngularSpeedBiasY(double biasY)
                          throws com.irurueta.navigation.LockedException

Sets angular speed y-coordinate of bias expressed in radians per second (rad/s).

Parameters:

biasY - y-coordinate of bias expressed in radians per second (rad/s).

Throws:

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

getAngularSpeedBiasZ

public double getAngularSpeedBiasZ()

Gets angular speed z-coordinate of bias expressed in radians per second (rad/s).

Returns:

z-coordinate of bias expressed in radians per second (rad/s).

setAngularSpeedBiasZ

public void setAngularSpeedBiasZ(double biasZ)
                          throws com.irurueta.navigation.LockedException

Sets angular speed z-coordinate of bias expressed in radians per second (rad/s).

Parameters:

biasZ - z-coordinate of bias expressed in radians per second (rad/s).

Throws:

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

setAngularSpeedBias

public void setAngularSpeedBias(double biasX,
 double biasY,
 double biasZ)
                         throws com.irurueta.navigation.LockedException

Sets angular speed coordinates of bias expressed in radians per second (rad/s).

Parameters:

biasX - x-coordinate of bias.

biasY - y-coordinate of bias.

biasZ - z-coordinate of bias.

Throws:

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

getAngularSpeedBiasXAsAngularSpeed

public com.irurueta.units.AngularSpeed getAngularSpeedBiasXAsAngularSpeed()

Gets angular speed x-coordinate of bias.

Returns:

x-coordinate of bias.

getAngularSpeedBiasXAsAngularSpeed

public void getAngularSpeedBiasXAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets angular speed x-coordinate of bias.

Parameters:

result - instance where the result will be stored.

setAngularSpeedBiasX

public void setAngularSpeedBiasX(com.irurueta.units.AngularSpeed biasX)
                          throws com.irurueta.navigation.LockedException

Sets angular speed x-coordinate of bias.

Parameters:

biasX - x-coordinate of bias.

Throws:

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

getAngularSpeedBiasYAsAngularSpeed

public com.irurueta.units.AngularSpeed getAngularSpeedBiasYAsAngularSpeed()

Gets angular speed y-coordinate of bias.

Returns:

y-coordinate of bias.

getAngularSpeedBiasYAsAngularSpeed

public void getAngularSpeedBiasYAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets angular speed y-coordinate of bias.

Parameters:

result - instance where the result will be stored.

setAngularSpeedBiasY

public void setAngularSpeedBiasY(com.irurueta.units.AngularSpeed biasY)
                          throws com.irurueta.navigation.LockedException

Sets angular speed y-coordinate of bias.

Parameters:

biasY - y-coordinate of bias.

Throws:

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

getAngularSpeedBiasZAsAngularSpeed

public com.irurueta.units.AngularSpeed getAngularSpeedBiasZAsAngularSpeed()

Gets angular speed z-coordinate of bias.

Returns:

z-coordinate of bias.

getAngularSpeedBiasZAsAngularSpeed

public void getAngularSpeedBiasZAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets angular speed z-coordinate of bias.

Parameters:

result - instance where the result will be stored.

setAngularSpeedBiasZ

public void setAngularSpeedBiasZ(com.irurueta.units.AngularSpeed biasZ)
                          throws com.irurueta.navigation.LockedException

Sets angular speed z-coordinate of bias.

Parameters:

biasZ - z-coordinate of bias.

Throws:

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

setAngularSpeedBias

public void setAngularSpeedBias(com.irurueta.units.AngularSpeed biasX,
 com.irurueta.units.AngularSpeed biasY,
 com.irurueta.units.AngularSpeed biasZ)
                         throws com.irurueta.navigation.LockedException

Sets angular speed coordinates of bias.

Parameters:

biasX - x-coordinate of bias.

biasY - y-coordinate of bias.

biasZ - z-coordinate of bias.

Throws:

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

getAngularSpeedCrossCouplingErrors

public com.irurueta.algebra.Matrix getAngularSpeedCrossCouplingErrors()

Gets angular speed cross-coupling errors matrix.

Returns:

cross coupling errors matrix.

getAngularSpeedCrossCouplingErrors

public void getAngularSpeedCrossCouplingErrors(com.irurueta.algebra.Matrix result)

Gets angular speed cross-coupling errors matrix.

Parameters:

result - instance where the result will be stored.

setAngularSpeedCrossCouplingErrors

public void setAngularSpeedCrossCouplingErrors(com.irurueta.algebra.Matrix crossCouplingErrors)
                                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Sets angular speed cross-coupling errors matrix.

Parameters:

crossCouplingErrors - cross-coupling errors matrix. Must be 3x3.

Throws:

com.irurueta.algebra.AlgebraException - if matrix cannot be inverted.

IllegalArgumentException - if matrix is not 3x3.

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

getAngularSpeedSx

public double getAngularSpeedSx()

Gets angular speed x scaling factor.

Returns:

x scaling factor.

setAngularSpeedSx

public void setAngularSpeedSx(double sx)
                       throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed x scaling factor.

Parameters:

sx - x scaling factor.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes angular speed-cross coupling matrix non-invertible.

getAngularSpeedSy

public double getAngularSpeedSy()

Gets angular speed y scaling factor.

Returns:

y scaling factor.

setAngularSpeedSy

public void setAngularSpeedSy(double sy)
                       throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed y-scaling factor.

Parameters:

sy - y scaling factor.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes angular speed cross-coupling matrix non-invertible.

getAngularSpeedSz

public double getAngularSpeedSz()

Gets angular speed z scaling factor.

Returns:

z scaling factor.

setAngularSpeedSz

public void setAngularSpeedSz(double sz)
                       throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed z scaling factor.

Parameters:

sz - z scaling factor.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes angular speed cross-coupling matrix non-invertible.

getAngularSpeedMxy

public double getAngularSpeedMxy()

Gets angular speed x-y cross-coupling error.

Returns:

x-y cross coupling error.

setAngularSpeedMxy

public void setAngularSpeedMxy(double mxy)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed x-y cross-coupling error.

Parameters:

mxy - x-y cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes angular speed cross-coupling matrix non-invertible.

getAngularSpeedMxz

public double getAngularSpeedMxz()

Gets angular speed x-z cross-coupling error.

Returns:

x-z cross coupling error.

setAngularSpeedMxz

public void setAngularSpeedMxz(double mxz)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed x-z cross-coupling error.

Parameters:

mxz - x-z cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes angular speed cross-coupling matrix non-invertible.

getAngularSpeedMyx

public double getAngularSpeedMyx()

Gets angular speed y-x cross-coupling error.

Returns:

y-x cross coupling error.

setAngularSpeedMyx

public void setAngularSpeedMyx(double myx)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed y-x cross-coupling error.

Parameters:

myx - y-x cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes angular speed cross-coupling matrix non-invertible.

getAngularSpeedMyz

public double getAngularSpeedMyz()

Gets angular speed y-z cross-coupling error.

Returns:

y-z cross coupling error.

setAngularSpeedMyz

public void setAngularSpeedMyz(double myz)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed y-z cross-coupling error.

Parameters:

myz - y-z cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes angular speed cross-coupling matrix non-invertible.

getAngularSpeedMzx

public double getAngularSpeedMzx()

Gets angular speed z-x cross-coupling error.

Returns:

z-x cross coupling error.

setAngularSpeedMzx

public void setAngularSpeedMzx(double mzx)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed z-x cross-coupling error.

Parameters:

mzx - z-x cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes angular speed cross-coupling matrix non-invertible.

getAngularSpeedMzy

public double getAngularSpeedMzy()

Gets angular speed z-y cross-coupling error.

Returns:

z-y cross coupling error.

setAngularSpeedMzy

public void setAngularSpeedMzy(double mzy)
                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed z-y cross-coupling error.

Parameters:

mzy - z-y cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided value makes angular speed cross-coupling matrix non-invertible.

setAngularSpeedScalingFactors

public void setAngularSpeedScalingFactors(double sx,
 double sy,
 double sz)
                                   throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed scaling factors.

Parameters:

sx - x scaling factor.

sy - y scaling factor.

sz - z scaling factor.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided values make angular speed cross-coupling matrix non-invertible.

setAngularSpeedCrossCouplingErrors

public void setAngularSpeedCrossCouplingErrors(double mxy,
 double mxz,
 double myx,
 double myz,
 double mzx,
 double mzy)
                                        throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed cross-coupling errors.

Parameters:

mxy - x-y cross coupling error.

mxz - x-z cross coupling error.

myx - y-x cross coupling error.

myz - y-z cross coupling error.

mzx - z-x cross coupling error.

mzy - z-y cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided values make angular speed cross-coupling matrix non-invertible.

setAngularSpeedScalingFactorsAndCrossCouplingErrors

public void setAngularSpeedScalingFactorsAndCrossCouplingErrors(double sx,
 double sy,
 double sz,
 double mxy,
 double mxz,
 double myx,
 double myz,
 double mzx,
 double mzy)
                                                         throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.AlgebraException

Sets angular speed scaling factors and cross-coupling errors.

Parameters:

sx - x scaling factor.

sy - y scaling factor.

sz - z scaling factor.

mxy - x-y cross coupling error.

mxz - x-z cross coupling error.

myx - y-x cross coupling error.

myz - y-z cross coupling error.

mzx - z-x cross coupling error.

mzy - z-y cross coupling error.

Throws:

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

com.irurueta.algebra.AlgebraException - if provided values make angular speed cross-coupling matrix non-invertible.

getAngularSpeedGDependantCrossBias

public com.irurueta.algebra.Matrix getAngularSpeedGDependantCrossBias()

Gets angular speed g-dependant cross biases matrix.

Returns:

g-dependant cross biases matrix.

getAngularSpeedGDependantCrossBias

public void getAngularSpeedGDependantCrossBias(com.irurueta.algebra.Matrix result)

Gets angular speed g-dependant cross biases matrix.

Parameters:

result - instance where the result will be stored.

setAngularSpeedGDependantCrossBias

public void setAngularSpeedGDependantCrossBias(com.irurueta.algebra.Matrix gDependantCrossBias)
                                        throws com.irurueta.navigation.LockedException

Sets angular speed g-dependant cross biases matrix.

Parameters:

gDependantCrossBias - g-dependant cross biases matrix.

Throws:

IllegalArgumentException - if provided, matrix is not 3x3.

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

getTimeInterval

public double getTimeInterval()

Gets the time interval between body kinematics (IMU acceleration and gyroscope) samples expressed in seconds (s).

Returns:

time interval between body kinematics samples.

setTimeInterval

public void setTimeInterval(double timeInterval)
                     throws com.irurueta.navigation.LockedException

Sets a time interval between body kinematics (IMU acceleration and gyroscope) samples expressed in seconds (s).

Parameters:

timeInterval - time interval between body kinematics samples.

Throws:

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

getTimeIntervalAsTime

public com.irurueta.units.Time getTimeIntervalAsTime()

Gets time interval between body kinematics (IMU acceleration and gyroscope) samples.

Returns:

time interval between body kinematics samples.

getTimeIntervalAsTime

public void getTimeIntervalAsTime(com.irurueta.units.Time result)

Gets time interval between body kinematics (IMU acceleration and gyroscope) samples.

Parameters:

result - instance where the time interval will be stored.

setTimeInterval

public void setTimeInterval(com.irurueta.units.Time timeInterval)
                     throws com.irurueta.navigation.LockedException

Sets time interval between body kinematics (IMU acceleration and gyroscope) samples.

Parameters:

timeInterval - time interval between body kinematics samples.

Throws:

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

getEcefPosition

public com.irurueta.navigation.frames.ECEFPosition getEcefPosition()

Gets current body position expressed in ECEF coordinates.

Returns:

current body position expressed in ECEF coordinates.

getEcefPosition

public void getEcefPosition(com.irurueta.navigation.frames.ECEFPosition result)

Gets current body position expressed in ECEF coordinates.

Parameters:

result - instance where current body position will be stored.

setEcefPosition

public void setEcefPosition(com.irurueta.navigation.frames.ECEFPosition position)
                     throws com.irurueta.navigation.LockedException

Sets current body position expressed in ECEF coordinates.

Parameters:

position - current body position to be set.

Throws:

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

setEcefPosition

public void setEcefPosition(double x,
 double y,
 double z)
                     throws com.irurueta.navigation.LockedException

Sets current body position expressed in ECEF coordinates.

Parameters:

x - x position resolved around ECEF axes and expressed in meters (m).

y - y position resolved around ECEF axes and expressed in meters (m).

z - z position resolved around ECEF axes and expressed in meters (m).

Throws:

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

setEcefPosition

public void setEcefPosition(com.irurueta.units.Distance x,
 com.irurueta.units.Distance y,
 com.irurueta.units.Distance z)
                     throws com.irurueta.navigation.LockedException

Sets current body position expressed in ECEF coordinates.

Parameters:

x - x position resolved around ECEF axes.

y - y position resolved around ECEF axes.

z - z position resolved around ECEF axes.

Throws:

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

setEcefPosition

public void setEcefPosition(com.irurueta.geometry.Point3D position)
                     throws com.irurueta.navigation.LockedException

Sets current body position expressed in ECEF coordinates.

Parameters:

position - position resolved around ECEF axes and expressed in meters (m).

Throws:

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

getEcefFrame

public com.irurueta.navigation.frames.ECEFFrame getEcefFrame()

Gets ECEF frame containing current body position and orientation expressed in ECEF coordinates. Frame also contains body velocity, but it is always assumed to be zero during calibration.

Returns:

ECEF frame containing current body position and orientation resolved around ECEF axes.

getEcefFrame

public void getEcefFrame(com.irurueta.navigation.frames.ECEFFrame result)

Gets ECEF frame containing current body position and orientation expressed in ECEF coordinates. Frame also contains body velocity, but it is always assumed to be zero during calibration.

Parameters:

result - instance where ECEF frame containing current body position and orientation resolved around ECEF axes will be stored.

getNedFrame

public com.irurueta.navigation.frames.NEDFrame getNedFrame()

Gets NED frame containing current body position and orientation expressed in NED coordinates. Frame also contains body velocity, but it is always assumed to be zero during calibration.

Returns:

NED frame containing current body position and orientation resolved around NED axes.

getNedFrame

public void getNedFrame(com.irurueta.navigation.frames.NEDFrame result)

Gets NED frame containing current body position and orientation expressed in NED coordinates. Frame also contains body velocity, but it is always assumed to be zero during calibration.

Parameters:

result - instance where NED frame containing current body position and orientation resolved around NED axes will be stored.

getNedPosition

public com.irurueta.navigation.frames.NEDPosition getNedPosition()

Gets current body position expressed in NED coordinates.

Returns:

current body position expressed in NED coordinates.

getNedPosition

public void getNedPosition(com.irurueta.navigation.frames.NEDPosition result)

Gets current body position expressed in NED coordinates.

Parameters:

result - instance where current body position will be stored.

setNedPosition

public void setNedPosition(com.irurueta.navigation.frames.NEDPosition position)
                    throws com.irurueta.navigation.LockedException

Sets current body position expressed in NED coordinates.

Parameters:

position - current body position to be set.

Throws:

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

setNedPosition

public void setNedPosition(double latitude,
 double longitude,
 double height)
                    throws com.irurueta.navigation.LockedException

Sets current body position expressed in NED coordinates.

Parameters:

latitude - latitude NED coordinate expressed in radians (rad).

longitude - longitude NED coordinate expressed in radians (rad).

height - height NED coordinate expressed in meters (m).

Throws:

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

setNedPosition

public void setNedPosition(com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 double height)
                    throws com.irurueta.navigation.LockedException

Sets current body position expressed in NED coordinates.

Parameters:

latitude - latitude NED coordinate.

longitude - longitude NED coordinate.

height - height NED coordinate expressed in meters (m).

Throws:

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

setNedPosition

public void setNedPosition(com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)
                    throws com.irurueta.navigation.LockedException

Sets current body position expressed in NED coordinates.

Parameters:

latitude - latitude NED coordinate.

longitude - longitude NED coordinate.

height - height NED coordinate.

Throws:

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

getEcefC

public com.irurueta.navigation.frames.CoordinateTransformation getEcefC()

Gets current body orientation as a transformation from body to ECEF coordinates. Notice that returned orientation refers to ECEF Earth axes, which means that orientation is not relative to the ground or horizon at current body position. Typically, it is more convenient to use getNedC() to get orientation relative to the ground or horizon at current body position. For instance, on Android devices a NED orientation with Euler angles (roll = 0, pitch = 0, yaw = 0) means that the device is laying flat on a horizontal surface with the screen facing down towards the ground.

Returns:

current body orientation resolved on ECEF axes.

getEcefC

public void getEcefC(com.irurueta.navigation.frames.CoordinateTransformation result)

Gets current body orientation as a transformation from body to ECEF coordinates. Notice that returned orientation refers to ECEF Earth axes, which means that orientation is not relative to the ground or horizon at current body position. Typically, it is more convenient to use getNedC() to get orientation relative to the ground or horizon at current body position. For instance, on Android devices a NED orientation with Euler angles (roll = 0, pitch = 0, yaw = 0) means that the device is laying flat on a horizontal surface with the screen facing down towards the ground.

Parameters:

result - instance where current body orientation resolved on ECEF axes will be stored.

setEcefC

public void setEcefC(com.irurueta.navigation.frames.CoordinateTransformation ecefC)
              throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets current body orientation as a transformation from body to ECEF coordinates. Notice that ECEF orientation refers to ECEF Earth axes, which means that orientation is not relative to the ground or horizon at current body position. Typically, it is more convenient to use setNedC(CoordinateTransformation) to specify orientation relative to the ground or horizon at current body position. For instance, on Android devices a NED orientation with Euler angles (roll = 0, pitch = 0, yaw = 0) means that the device is laying flat on a horizontal surface with the screen facing down towards the ground.

Parameters:

ecefC - body orientation resolved on ECEF axes to be set.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if coordinate transformation is not from body to ECEF coordinates.

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

getNedC

public com.irurueta.navigation.frames.CoordinateTransformation getNedC()

Gets current body orientation as a transformation from body to NED coordinates. Notice that returned orientation refers to the current local position. This means that two equal NED orientations will transform into different ECEF orientations if the body is located at different positions. As a reference, on Android devices a NED orientation with Euler angles (roll = 0, pitch = 0, yaw = 0) means that the device is laying flat on a horizontal surface with the screen facing down towards the ground.

Returns:

current body orientation resolved on NED axes.

getNedC

public void getNedC(com.irurueta.navigation.frames.CoordinateTransformation result)

Gets current body orientation as a transformation from body to NED coordinates. Notice that returned orientation refers to the current local position. This means that two equal NED orientations will transform into different ECEF orientations if the body is located at different positions. As a reference, on Android devices a NED orientation with Euler angles (roll = 0, pitch = 0, yaw = 0) means that the device is laying flat on a horizontal surface with the screen facing down towards the ground.

Parameters:

result - instance where current body orientation resolved on NED axes will be stored.

setNedC

public void setNedC(com.irurueta.navigation.frames.CoordinateTransformation nedC)
             throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets current body orientation as a transformation from body to NED coordinates. Notice that the provided orientation refers to the current local position. This means that two equal NED orientations will transform into different ECEF orientations if the body is located at different positions. As a reference, on Android devices a NED orientation with Euler angles (roll = 0, pitch = 0, yaw = 0) means that the device is laying flat on a horizontal surface with the screen facing down towards the ground.

Parameters:

nedC - orientation resolved on NED axes to be set.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

setNedPositionAndNedOrientation

public void setNedPositionAndNedOrientation(com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC)
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position and orientation both expressed on NED coordinates.

Parameters:

nedPosition - position expressed on NED coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

See Also:

• setNedPosition(NEDPosition)
• setNedC(CoordinateTransformation)

setNedPositionAndNedOrientation

public void setNedPositionAndNedOrientation(double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.CoordinateTransformation nedC)
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position and orientation both expressed on NED coordinates.

Parameters:

latitude - latitude expressed in radians (rad).

longitude - longitude expressed in radians (rad).

height - height expressed in meters (m).

nedC - body to NED coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

See Also:

• setNedPosition(double, double, double)
• setNedC(CoordinateTransformation)

setNedPositionAndNedOrientation

public void setNedPositionAndNedOrientation(com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 double height,
 com.irurueta.navigation.frames.CoordinateTransformation nedC)
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position and orientation both expressed on NED coordinates.

Parameters:

latitude - latitude.

longitude - longitude.

height - height expressed in meters (m).

nedC - body to NED coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

See Also:

• setNedPosition(Angle, Angle, double)
• setNedC(CoordinateTransformation)

setNedPositionAndNedOrientation

public void setNedPositionAndNedOrientation(com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.CoordinateTransformation nedC)
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position and orientation both expressed on NED coordinates.

Parameters:

latitude - latitude.

longitude - longitude.

height - height.

nedC - body to NED coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

See Also:

• setNedPosition(Angle, Angle, Distance)
• setNedC(CoordinateTransformation)

setEcefPositionAndEcefOrientation

public void setEcefPositionAndEcefOrientation(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation ecefC)
                                       throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position and orientation both expressed on ECEF coordinates.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

ecefC - body to ECEF coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if coordinate transformation is not from body to ECEF coordinates.

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

See Also:

• setEcefPosition(ECEFPosition)
• setEcefC(CoordinateTransformation)

setEcefPositionAndEcefOrientation

public void setEcefPositionAndEcefOrientation(double x,
 double y,
 double z,
 com.irurueta.navigation.frames.CoordinateTransformation ecefC)
                                       throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position and orientation both expressed on ECEF coordinates.

Parameters:

x - x coordinate of ECEF position expressed in meters (m).

y - y coordinate of ECEF position expressed in meters (m).

z - z coordinate of ECEF position expressed in meters (m).

ecefC - body to ECEF coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if coordinate transformation is not from body to ECEF coordinates.

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

See Also:

• setEcefPosition(double, double, double)
• setEcefC(CoordinateTransformation)

setEcefPositionAndEcefOrientation

public void setEcefPositionAndEcefOrientation(com.irurueta.units.Distance x,
 com.irurueta.units.Distance y,
 com.irurueta.units.Distance z,
 com.irurueta.navigation.frames.CoordinateTransformation ecefC)
                                       throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position and orientation both expressed on ECEF coordinates.

Parameters:

x - x coordinate of ECEF position.

y - y coordinate of ECEF position.

z - z coordinate of ECEF position.

ecefC - body to ECEF coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if coordinate transformation is not from body to ECEF coordinates.

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

See Also:

• setEcefPosition(Distance, Distance, Distance)
• setEcefC(CoordinateTransformation)

setEcefPositionAndEcefOrientation

public void setEcefPositionAndEcefOrientation(com.irurueta.geometry.Point3D position,
 com.irurueta.navigation.frames.CoordinateTransformation ecefC)
                                       throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position and orientation both expressed on ECEF coordinates.

Parameters:

position - position resolved around ECEF axes and expressed in meters (m).

ecefC - body to ECEF coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if coordinate transformation is not from body to ECEF coordinates.

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

See Also:

• setEcefPosition(Point3D)
• setEcefC(CoordinateTransformation)

setNedPositionAndEcefOrientation

public void setNedPositionAndEcefOrientation(com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.CoordinateTransformation ecefC)
                                      throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position expressed on NED coordinates and orientation with respect to ECEF axes.

Parameters:

position - position expressed on NED coordinates.

ecefC - body to ECEF coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if coordinate transformation is not from body to ECEF coordinates.

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

See Also:

• setNedPosition(NEDPosition)
• setEcefC(CoordinateTransformation)

setNedPositionAndEcefOrientation

public void setNedPositionAndEcefOrientation(double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.CoordinateTransformation ecefC)
                                      throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position expressed on NED coordinates and orientation with respect to ECEF axes.

Parameters:

latitude - latitude expressed in radians (rad).

longitude - longitude expressed in radians (rad).

height - height expressed in meters (m).

ecefC - body to ECEF coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if coordinate transformation is not from body to ECEF coordinates.

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

See Also:

• setNedPosition(double, double, double)
• setEcefC(CoordinateTransformation)

setNedPositionAndEcefOrientation

public void setNedPositionAndEcefOrientation(com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 double height,
 com.irurueta.navigation.frames.CoordinateTransformation ecefC)
                                      throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position expressed on NED coordinates and orientation with respect to ECEF axes.

Parameters:

latitude - latitude.

longitude - longitude.

height - height expressed in meters (m).

ecefC - body to ECEF coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if coordinate transformation is not from body to ECEF coordinates.

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

See Also:

• setNedPosition(Angle, Angle, double)
• setEcefC(CoordinateTransformation)

setNedPositionAndEcefOrientation

public void setNedPositionAndEcefOrientation(com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.CoordinateTransformation ecefC)
                                      throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position expressed on NED coordinates and orientation with respect to ECEF axes.

Parameters:

latitude - latitude.

longitude - longitude.

height - height.

ecefC - body to ECEF coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if coordinate transformation is not from body to ECEF coordinates.

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

See Also:

• setNedPosition(Angle, Angle, Distance)
• setEcefC(CoordinateTransformation)

setEcefPositionAndNedOrientation

public void setEcefPositionAndNedOrientation(com.irurueta.navigation.frames.ECEFPosition ecefPosition,
 com.irurueta.navigation.frames.CoordinateTransformation nedC)
                                      throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position expressed on ECEF coordinates and orientation with respect to NED axes. To preserve the provided orientation, the first position is set and then orientation is applied.

Parameters:

ecefPosition - position expressed on ECEF coordinates.

nedC - body to NED coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

See Also:

• setEcefPosition(ECEFPosition)
• setNedC(CoordinateTransformation)

setEcefPositionAndNedOrientation

public void setEcefPositionAndNedOrientation(double x,
 double y,
 double z,
 com.irurueta.navigation.frames.CoordinateTransformation nedC)
                                      throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position expressed on ECEF coordinates and orientation with respect to NED axes. To preserve the provided orientation, the first position is set and then orientation is applied.

Parameters:

x - x coordinate of ECEF position expressed in meters (m).

y - y coordinate of ECEF position expressed in meters (m).

z - z coordinate of ECEF position expressed in meters (m).

nedC - body to NED coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

See Also:

• setEcefPosition(double, double, double)
• setNedC(CoordinateTransformation)

setEcefPositionAndNedOrientation

public void setEcefPositionAndNedOrientation(com.irurueta.units.Distance x,
 com.irurueta.units.Distance y,
 com.irurueta.units.Distance z,
 com.irurueta.navigation.frames.CoordinateTransformation nedC)
                                      throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position expressed on ECEF coordinates and orientation with respect to NED axes. To preserve the provided orientation, the first position is set and then orientation is applied.

Parameters:

x - x coordinate of ECEF position.

y - y coordinate of ECEF position.

z - z coordinate of ECEF position.

nedC - body to NED coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

See Also:

• setEcefPosition(Distance, Distance, Distance)
• setNedC(CoordinateTransformation)

setEcefPositionAndNedOrientation

public void setEcefPositionAndNedOrientation(com.irurueta.geometry.Point3D position,
 com.irurueta.navigation.frames.CoordinateTransformation nedC)
                                      throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Sets position expressed on ECEF coordinates and orientation with respect to NED axes. To preserve the provided orientation, the first position is set and then orientation is applied.

Parameters:

position - position resolved around ECEF axes and expressed in meters (m).

nedC - body to NED coordinate transformation indicating body orientation.

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - if provided coordinate transformation is not from body to NED coordinates.

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

See Also:

• setEcefPosition(Point3D)
• setNedC(CoordinateTransformation)

getNumberOfProcessedSamples

public int getNumberOfProcessedSamples()

Gets the number of samples that have been processed so far.

Returns:

number of samples that have been processed so far.

getNumberOfProcessedDriftPeriods

public int getNumberOfProcessedDriftPeriods()

Gets the number of drift periods that have been processed.

Returns:

number of drift periods that have been processed.

getElapsedTimeSeconds

public double getElapsedTimeSeconds()

Gets amount of total elapsed time since the first processed measurement expressed in seconds (s).

Returns:

amount of total elapsed time.

getElapsedTime

public com.irurueta.units.Time getElapsedTime()

Gets the amount of total elapsed time since the first processed measurement.

Returns:

amount of total elapsed time.

getElapsedTime

public void getElapsedTime(com.irurueta.units.Time result)

Gets the amount of total elapsed time since the first processed measurement.

Parameters:

result - instance where the result will be stored.

isFixKinematicsEnabled

public boolean isFixKinematicsEnabled()

Indicates whether measured kinematics must be fixed or not. When enabled, provided calibration data is used; otherwise it is ignored. By default, this is enabled.

Returns:

indicates whether measured kinematics must be fixed or not.

setFixKinematicsEnabled

public void setFixKinematicsEnabled(boolean fixKinematics)
                             throws com.irurueta.navigation.LockedException

Specifies whether measured kinematics must be fixed or not. When enabled, provided calibration data is used; otherwise it is ignored.

Parameters:

fixKinematics - true if measured kinematics must be fixed or not.

Throws:

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

getDriftPeriodSamples

public int getDriftPeriodSamples()

Gets the number of samples to be used on each drift period.

Returns:

number of samples to be used on each drift period.

setDriftPeriodSamples

public void setDriftPeriodSamples(int driftPeriodSamples)
                           throws com.irurueta.navigation.LockedException

Sets the number of samples to be used on each drift period.

Parameters:

driftPeriodSamples - number of samples to be used on each drift period.

Throws:

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

IllegalArgumentException - if provided value is negative or zero.

getDriftPeriodSeconds

public double getDriftPeriodSeconds()

Gets the duration of each drift period expressed in seconds (s).

Returns:

duration of each drift period.

getDriftPeriod

public com.irurueta.units.Time getDriftPeriod()

Gets the duration of each drift period.

Returns:

duration of each drift period.

getDriftPeriod

public void getDriftPeriod(com.irurueta.units.Time result)

Gets the duration of each drift period.

Parameters:

result - instance where the result will be stored.

isRunning

public boolean isRunning()

Indicates whether this estimator is running or not.

Returns:

true if estimator is running, false otherwise.

isReady

public boolean isReady()

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

Returns:

true if ready, false otherwise.

addBodyKinematics

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

Adds a sample of measured body kinematics (accelerometer and gyroscope readings) obtained from an IMU, fixes their values and uses fixed values to estimate any additional existing bias or position and velocity variation while the IMU body remains static.

Parameters:

kinematics - measured body kinematics.

Throws:

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

RandomWalkEstimationException - if estimation fails for some reason.

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

reset

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

Resets current estimator.

Returns:

true if estimator was successfully reset, false if no reset was needed.

Throws:

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

getAccelerometerBiasPSD

public double getAccelerometerBiasPSD()

Gets estimated accelerometer bias random walk PSD (Power Spectral Density) expressed in (m^2 * s^-5). This can be used by INSLooselyCoupledKalmanConfig.

Specified by:

getAccelerometerBiasPSD in interface AccelerometerBiasRandomWalkSource

Returns:

accelerometer bias random walk PSD.

getGyroBiasPSD

public double getGyroBiasPSD()

Gets estimated gyro bias random walk PSD (Power Spectral Density) expressed in (rad^2 * s^-3). This can be used by INSLooselyCoupledKalmanConfig.

Specified by:

getGyroBiasPSD in interface GyroscopeBiasRandomWalkSource

Returns:

gyroscope bias random walk PSD.

getPositionNoiseVariance

public double getPositionNoiseVariance()

Gets estimated position noise variance expressed in square meters (m^2). This can be used by INSLooselyCoupledKalmanConfig.

Returns:

position variance.

getVelocityNoiseVariance

public double getVelocityNoiseVariance()

Gets estimated velocity noise variance expressed in (m^2/s^2). This can be used by INSLooselyCoupledKalmanConfig.

Returns:

velocity variance.

getAttitudeNoiseVariance

public double getAttitudeNoiseVariance()

Gets estimated attitude noise variance expressed in squared radians (rad^2).

Returns:

attitude variance.

getPositionNoiseStandardDeviation

public double getPositionNoiseStandardDeviation()

Gets standard deviation of position noise expressed in meters (m). This can be used by INSLooselyCoupledKalmanConfig.

Specified by:

getPositionNoiseStandardDeviation in interface PositionNoiseStandardDeviationSource

Returns:

standard deviation of position noise.

getPositionNoiseStandardDeviationAsDistance

public com.irurueta.units.Distance getPositionNoiseStandardDeviationAsDistance()

Gets standard deviation of position noise. This can be used by INSLooselyCoupledKalmanConfig.

Returns:

standard deviation of position noise.

getPositionNoiseStandardDeviationAsDistance

public void getPositionNoiseStandardDeviationAsDistance(com.irurueta.units.Distance result)

Gets standard deviation of position noise. This can be used by INSLooselyCoupledKalmanConfig.

Parameters:

result - instance where the result will be stored.

getVelocityNoiseStandardDeviation

public double getVelocityNoiseStandardDeviation()

Gets standard deviation of velocity noise expressed in meters per second (m/s). This can be used by INSLooselyCoupledKalmanConfig.

Specified by:

getVelocityNoiseStandardDeviation in interface VelocityNoiseStandardDeviationSource

Returns:

standard deviation of velocity noise.

getVelocityNoiseStandardDeviationAsSpeed

public com.irurueta.units.Speed getVelocityNoiseStandardDeviationAsSpeed()

Gets standard deviation of velocity noise. This can be used by INSLooselyCoupledKalmanConfig.

Returns:

standard deviation of velocity noise.

getVelocityNoiseStandardDeviationAsSpeed

public void getVelocityNoiseStandardDeviationAsSpeed(com.irurueta.units.Speed result)

Gets standard deviation of velocity noise. This can be used by INSLooselyCoupledKalmanConfig.

Parameters:

result - instance where the result will be stored.

getAttitudeNoiseStandardDeviation

public double getAttitudeNoiseStandardDeviation()

Gets standard deviation of attitude noise expressed in radians (rad).

Returns:

standard deviation of attitude noise.

getAttitudeNoiseStandardDeviationAsAngle

public com.irurueta.units.Angle getAttitudeNoiseStandardDeviationAsAngle()

Gets standard deviation of attitude noise.

Returns:

standard deviation of attitude noise.

getAttitudeNoiseStandardDeviationAsAngle

public void getAttitudeNoiseStandardDeviationAsAngle(com.irurueta.units.Angle result)

Gets standard deviation of attitude noise.

Parameters:

result - instance where the result will be stored.

getPositionUncertainty

public double getPositionUncertainty()

Gets position uncertainty expressed in meters (m).

Specified by:

getPositionUncertainty in interface PositionUncertaintySource

Returns:

position uncertainty.

getPositionUncertaintyAsDistance

public com.irurueta.units.Distance getPositionUncertaintyAsDistance()

Gets position uncertainty.

Returns:

position uncertainty.

getPositionUncertaintyAsDistance

public void getPositionUncertaintyAsDistance(com.irurueta.units.Distance result)

Gets position uncertainty.

Parameters:

result - instance where the result will be stored.

getVelocityUncertainty

public double getVelocityUncertainty()

Gets velocity uncertainty expressed in meters per second (m/s).

Specified by:

getVelocityUncertainty in interface VelocityUncertaintySource

Returns:

velocity uncertainty.

getVelocityUncertaintyAsSpeed

public com.irurueta.units.Speed getVelocityUncertaintyAsSpeed()

Gets velocity uncertainty.

Returns:

velocity uncertainty.

getVelocityUncertaintyAsSpeed

public void getVelocityUncertaintyAsSpeed(com.irurueta.units.Speed result)

Gets velocity uncertainty.

Parameters:

result - instance where the result will be stored.

getAttitudeUncertainty

public double getAttitudeUncertainty()

Gets attitude uncertainty expressed in radians (rad).

Specified by:

getAttitudeUncertainty in interface AttitudeUncertaintySource

Returns:

attitude uncertainty.

getAttitudeUncertaintyAsAngle

public com.irurueta.units.Angle getAttitudeUncertaintyAsAngle()

Gets attitude uncertainty.

Returns:

attitude uncertainty.

getAttitudeUncertaintyAsAngle

public void getAttitudeUncertaintyAsAngle(com.irurueta.units.Angle result)

Gets attitude uncertainty.

Parameters:

result - instance where the result will be stored.

getFixedKinematics

public com.irurueta.navigation.inertial.BodyKinematics getFixedKinematics()

Gets last added kinematics after being fixed using provided calibration data. If kinematics fix is disabled, this will be equal to the last provided measured kinematics.

Returns:

last fixed body kinematics.

getFixedKinematics

public void getFixedKinematics(com.irurueta.navigation.inertial.BodyKinematics result)

Gets last added kinematics after being fixed using provided calibration data. If kinematics fix is disabled, this will be equal to the last provided measured kinematics.

Parameters:

result - last fixed body kinematics.