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

Class BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

java.lang.Object

com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.calibration.TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

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

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

All Implemented Interfaces:

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

public class BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer
extends AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

Optimizes the threshold factor for interval detection of accelerometer and gyroscope data based on results of calibration. Only accelerometer calibrators based on unknown orientation are supported (in other terms, calibrators must be AccelerometerNonLinearCalibrator and must support AccelerometerCalibratorMeasurementType.STANDARD_DEVIATION_BODY_KINEMATICS). Only gyroscope calibrators based on unknown orientation are supported (in other terms, calibrators must be GyroscopeNonLinearCalibrator and must support GyroscopeCalibratorMeasurementOrSequenceType.BODY_KINEMATICS_SEQUENCE). Only magnetometer calibrators based on unknown orientation are supported, in other terms, calibrators must be MagnetometerNonLinearCalibrator and must support MagnetometerCalibratorMeasurementType.STANDARD_DEVIATION_BODY_MAGNETIC_FLUX_DENSITY. This implementation uses a BracketedSingleOptimizer to find the threshold factor value that minimizes Mean Square Error (MSE) for calibration parameters.

Field Summary

Fields

Modifier and Type	Field	Description
private com.irurueta.numerical.optimization.OnIterationCompletedListener	iterationCompletedListener	Iteration listener for BracketedSingleOptimizer.
private com.irurueta.numerical.optimization.BracketedSingleOptimizer	mseOptimizer	A bracketed single optimizer to find the threshold factor value that minimizes the Mean Square Error (MSE) for calibration parameters.
private com.irurueta.numerical.SingleDimensionFunctionEvaluatorListener	optimizerListener	Listener for optimizer.

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

DEFAULT_MAX_THRESHOLD_FACTOR, DEFAULT_MIN_THRESHOLD_FACTOR, maxThresholdFactor, minThresholdFactor

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

dataSource, DEFAULT_PROGRESS_DELTA, listener, MAX_PROGRESS_DELTA, MIN_PROGRESS_DELTA, minMse, optimalThresholdFactor, previousProgress, progress, progressDelta, running

Constructor Summary

Constructors

Constructor	Description
BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer()	Constructor.
BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator, com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator, com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator)	Constructor.
BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator, com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator, com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator, com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)	Constructor.
BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource)	Constructor.
BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource, com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator, com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator, com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator)	Constructor.
BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource, com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator, com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator, com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator, com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)	Constructor.
BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource, com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)	Constructor.
BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.numerical.optimization.BracketedSingleOptimizer	getMseOptimizer()	Gets the bracketed single optimizer used to find the threshold factor value that minimizes the Mean Square Error (MSE) for calibration parameters.
private void	initializeOptimizerListeners()	Initializes optimizer listener.
boolean	isReady()	Indicates whether this optimizer is ready to start optimization.
double	optimize()	Optimizes the threshold factor for a static interval detector or measurement generator to minimize MSE (Minimum Squared Error) of estimated calibration parameters.
void	setMseOptimizer(com.irurueta.numerical.optimization.BracketedSingleOptimizer optimizer)	Sets the bracketed single optimizer used to find the threshold factor value that minimizes the Mean Square Error (MSE) for calibration parameters.

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

evaluateForThresholdFactor, getAccelerometerBaseNoiseLevel, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelPsd, getAccelerometerBaseNoiseLevelRootPsd, getAccelerometerCalibrator, getAccelerometerQualityScoreMapper, getBaseNoiseLevelAbsoluteThreshold, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getEstimatedAccelerometerBiases, getEstimatedAccelerometerBiasFxVariance, getEstimatedAccelerometerBiasFyVariance, getEstimatedAccelerometerBiasFzVariance, getEstimatedAccelerometerBiasStandardDeviationNorm, getEstimatedAccelerometerMa, getEstimatedGyroscopeBiases, getEstimatedGyroscopeBiasStandardDeviationNorm, getEstimatedGyroscopeBiasXVariance, getEstimatedGyroscopeBiasYVariance, getEstimatedGyroscopeBiasZVariance, getEstimatedGyroscopeGg, getEstimatedGyroscopeMg, getEstimatedMagnetometerHardIron, getEstimatedMagnetometerMm, getGyroscopeBaseNoiseLevelPsd, getGyroscopeBaseNoiseLevelRootPsd, getGyroscopeCalibrator, getGyroscopeQualityScoreMapper, getInitialStaticSamples, getInstantaneousNoiseLevelFactor, getMagnetometerCalibrator, getMagnetometerQualityScoreMapper, getMaxDynamicSamples, getMaxThresholdFactor, getMinStaticSamples, getMinThresholdFactor, getMseRule, getThreshold, getThresholdAsMeasurement, getThresholdAsMeasurement, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getWindowSize, setAccelerometerCalibrator, setAccelerometerQualityScoreMapper, setBaseNoiseLevelAbsoluteThreshold, setBaseNoiseLevelAbsoluteThreshold, setGyroscopeCalibrator, setGyroscopeQualityScoreMapper, setInitialStaticSamples, setInstantaneousNoiseLevelFactor, setMagnetometerCalibrator, setMagnetometerQualityScoreMapper, setMaxDynamicSamples, setMinStaticSamples, setMseRule, setThresholdFactorRange, setTimeInterval, setTimeInterval, setWindowSize

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

checkAndNotifyProgress, getDataSource, getListener, getMinMse, getOptimalThresholdFactor, getProgressDelta, initProgress, isRunning, setDataSource, setListener, setProgressDelta

Methods inherited from class java.lang.Object

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

Field Details

mseOptimizer

private com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer

A bracketed single optimizer to find the threshold factor value that minimizes the Mean Square Error (MSE) for calibration parameters.

optimizerListener

private com.irurueta.numerical.SingleDimensionFunctionEvaluatorListener optimizerListener

Listener for optimizer.

iterationCompletedListener

private com.irurueta.numerical.optimization.OnIterationCompletedListener iterationCompletedListener

Iteration listener for BracketedSingleOptimizer.

Constructor Details

BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer()

Constructor.

BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource)

Constructor.

Parameters:

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

BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator,
 com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator,
 com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator)

Constructor.

Parameters:

accelerometerCalibrator - an accelerometer calibrator to be used to optimize its Mean Square Error (MSE).

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

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

Throws:

IllegalArgumentException - if accelerometer calibrator does not use StandardDeviationBodyKinematics measurements, if gyroscope calibrator does not use BodyKinematicsSequence sequences of StandardDeviationTimedBodyKinematics or if magnetometer calibrator does not use StandardDeviationBodyMagneticFluxDensity measurements.

BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource,
 com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator,
 com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator,
 com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator)

Constructor.

Parameters:

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

accelerometerCalibrator - an accelerometer calibrator to be used to optimize its Mean Square Error (MSE).

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

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

Throws:

IllegalArgumentException - if accelerometer calibrator does not use StandardDeviationBodyKinematics measurements, if gyroscope calibrator does not use BodyKinematicsSequence sequences of StandardDeviationTimedBodyKinematics or if magnetometer calibrator does not use StandardDeviationBodyMagneticFluxDensity measurements.

BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)

Constructor.

Parameters:

mseOptimizer - optimizer to find the threshold factor value that minimizes MSE for calibration parameters.

BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource,
 com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)

Constructor.

Parameters:

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

mseOptimizer - optimizer to find the threshold value that minimizes MSE for calibration parameters.

BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator,
 com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator,
 com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator,
 com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)

Constructor.

Parameters:

accelerometerCalibrator - an accelerometer calibrator to be used to optimize its Mean Square Error (MSE).

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

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

mseOptimizer - optimizer to find the threshold value that minimizes MSE for calibration parameters.

Throws:

IllegalArgumentException - if accelerometer calibrator does not use StandardDeviationBodyKinematics measurements, if gyroscope calibrator does not use BodyKinematicsSequence sequences of StandardDeviationTimedBodyKinematics or if magnetometer calibrator does not use StandardDeviationBodyMagneticFluxDensity measurements.

BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

public BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer(AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource,
 com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator,
 com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator,
 com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerNonLinearCalibrator magnetometerCalibrator,
 com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)

Constructor.

Parameters:

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

accelerometerCalibrator - an accelerometer calibrator to be used to optimize its Mean Square Error (MSE).

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

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

mseOptimizer - optimizer to find the threshold value that minimizes MSE for calibration parameters.

Throws:

IllegalArgumentException - if accelerometer calibrator does not use StandardDeviationBodyKinematics measurements, if gyroscope calibrator does not use BodyKinematicsSequence sequences of StandardDeviationTimedBodyKinematics or if magnetometer calibrator does not use StandardDeviationBodyMagneticFluxDensity measurements.

Method Details

getMseOptimizer

public com.irurueta.numerical.optimization.BracketedSingleOptimizer getMseOptimizer()

Gets the bracketed single optimizer used to find the threshold factor value that minimizes the Mean Square Error (MSE) for calibration parameters.

Returns:

optimizer to find the threshold factor value that minimizes the MSE for calibration parameters.

setMseOptimizer

public void setMseOptimizer(com.irurueta.numerical.optimization.BracketedSingleOptimizer optimizer)
                     throws com.irurueta.navigation.LockedException

Sets the bracketed single optimizer used to find the threshold factor value that minimizes the Mean Square Error (MSE) for calibration parameters.

Parameters:

optimizer - optimizer to find the threshold factor value that minimizes the MSE for calibration parameters.

Throws:

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

isReady

public boolean isReady()

Indicates whether this optimizer is ready to start optimization.

Overrides:

isReady in class AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer

Returns:

true if this optimizer is ready, false otherwise.

optimize

public double optimize()
                throws com.irurueta.navigation.NotReadyException,
com.irurueta.navigation.LockedException,
IntervalDetectorThresholdFactorOptimizerException

Optimizes the threshold factor for a static interval detector or measurement generator to minimize MSE (Minimum Squared Error) of estimated calibration parameters.

Specified by:

optimize in class IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.calibration.TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

Returns:

optimized threshold factor.

Throws:

com.irurueta.navigation.NotReadyException - if this optimizer is not ready to start optimization.

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

IntervalDetectorThresholdFactorOptimizerException - if optimization fails for some reason.

initializeOptimizerListeners

private void initializeOptimizerListeners()

Initializes optimizer listener.