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

Class BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer

java.lang.Object

com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.calibration.TimedBodyKinematics,GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource>

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

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

All Implemented Interfaces:

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

public class BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer
extends GyroscopeIntervalDetectorThresholdFactorOptimizer

Optimizes the threshold factor for interval detection of accelerometer and gyroscope data based on results of calibration. Only gyroscope calibrators based on unknown orientation are supported (in other terms, calibrators must be GyroscopeNonLinearCalibrator and must support GyroscopeCalibratorMeasurementOrSequenceType.BODY_KINEMATICS_SEQUENCE). 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.GyroscopeIntervalDetectorThresholdFactorOptimizer

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
BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer()	Constructor.
BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator)	Constructor.
BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator, com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)	Constructor.
BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource)	Constructor.
BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource, com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator)	Constructor.
BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource, com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator, com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)	Constructor.
BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource, com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)	Constructor.
BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(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.GyroscopeIntervalDetectorThresholdFactorOptimizer

evaluateForThresholdFactor, getAccelerometerBaseNoiseLevel, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelPsd, getAccelerometerBaseNoiseLevelRootPsd, getBaseNoiseLevelAbsoluteThreshold, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getCalibrator, getEstimatedBiases, getEstimatedBiasStandardDeviationNorm, getEstimatedBiasXVariance, getEstimatedBiasYVariance, getEstimatedBiasZVariance, getEstimatedGg, getEstimatedMg, getGyroscopeBaseNoiseLevelPsd, getGyroscopeBaseNoiseLevelRootPsd, getInitialStaticSamples, getInstantaneousNoiseLevelFactor, getMaxDynamicSamples, getMaxThresholdFactor, getMinStaticSamples, getMinThresholdFactor, getQualityScoreMapper, getThreshold, getThresholdAsMeasurement, getThresholdAsMeasurement, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getWindowSize, setBaseNoiseLevelAbsoluteThreshold, setBaseNoiseLevelAbsoluteThreshold, setCalibrator, setInitialStaticSamples, setInstantaneousNoiseLevelFactor, setMaxDynamicSamples, setMinStaticSamples, setQualityScoreMapper, setThresholdFactorRange, setTimeInterval, setTimeInterval, setWindowSize

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

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

Methods inherited from class java.lang.Object

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

Field Details

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

BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer

public BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer()

Constructor.

BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer

public BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource)

Constructor.

Parameters:

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

BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer

public BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator)

Constructor.

Parameters:

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

Throws:

IllegalArgumentException - if gyroscope calibrator does not use BodyKinematicsSequence sequences.

BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer

public BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource,
 com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator)

Constructor.

Parameters:

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

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

Throws:

IllegalArgumentException - if gyroscope calibrator does not use BodyKinematicsSequence sequences.

BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer

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

Constructor.

Parameters:

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

BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer

public BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource 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 factor value that minimizes MSE for calibration parameters.

BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer

public BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator,
 com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)

Constructor.

Parameters:

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

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

Throws:

IllegalArgumentException - if gyroscope calibrator does not use BodyKinematicsSequence sequences.

BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer

public BracketedGyroscopeIntervalDetectorThresholdFactorOptimizer(GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource,
 com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator calibrator,
 com.irurueta.numerical.optimization.BracketedSingleOptimizer mseOptimizer)

Constructor.

Parameters:

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

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

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

Throws:

IllegalArgumentException - if gyroscope calibrator does not use BodyKinematicsSequence sequences.

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 GyroscopeIntervalDetectorThresholdFactorOptimizer

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.TimedBodyKinematics,GyroscopeIntervalDetectorThresholdFactorOptimizerDataSource>

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.