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

Class ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer

java.lang.Object

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

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

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

All Implemented Interfaces:

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

public class ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer
extends AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer

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). This implementation makes an exhaustive search between minimum and maximum threshold factor values to find the threshold value that produces the minimum Mean Square Error (MSE) for calibration parameters.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_STEP	Default step value to make exhaustive search of threshold factor values.
private double	thresholdFactorStep	Step to make exhaustive search of threshold factor values between AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

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

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
ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer()	Constructor.
ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator, com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator)	Constructor.
ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer(AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource)	Constructor.
ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer(AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource, com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator, com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator)	Constructor.

Method Summary

Modifier and Type	Method	Description
double	getThresholdFactorStep()	Gets the step to make exhaustive search of threshold values between AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().
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	setThresholdFactorStep(double thresholdStep)	Sets step to make exhaustive search of threshold values between AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

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

evaluateForThresholdFactor, getAccelerometerBaseNoiseLevel, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelPsd, getAccelerometerBaseNoiseLevelRootPsd, getAccelerometerCalibrator, getAccelerometerQualityScoreMapper, getBaseNoiseLevelAbsoluteThreshold, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getEstimatedAccelerometerBiases, getEstimatedAccelerometerBiasFxVariance, getEstimatedAccelerometerBiasFyVariance, getEstimatedAccelerometerBiasFzVariance, getEstimatedAccelerometerBiasStandardDeviationNorm, getEstimatedAccelerometerMa, getEstimatedGyroscopeBiases, getEstimatedGyroscopeBiasStandardDeviationNorm, getEstimatedGyroscopeBiasXVariance, getEstimatedGyroscopeBiasYVariance, getEstimatedGyroscopeBiasZVariance, getEstimatedGyroscopeGg, getEstimatedGyroscopeMg, getGyroscopeBaseNoiseLevelPsd, getGyroscopeBaseNoiseLevelRootPsd, getGyroscopeCalibrator, getGyroscopeQualityScoreMapper, getInitialStaticSamples, getInstantaneousNoiseLevelFactor, getMaxDynamicSamples, getMaxThresholdFactor, getMinStaticSamples, getMinThresholdFactor, getMseRule, getThreshold, getThresholdAsMeasurement, getThresholdAsMeasurement, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getWindowSize, isReady, setAccelerometerCalibrator, setAccelerometerQualityScoreMapper, setBaseNoiseLevelAbsoluteThreshold, setBaseNoiseLevelAbsoluteThreshold, setGyroscopeCalibrator, setGyroscopeQualityScoreMapper, setInitialStaticSamples, setInstantaneousNoiseLevelFactor, 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

DEFAULT_STEP

public static final double DEFAULT_STEP

Default step value to make exhaustive search of threshold factor values.

See Also:

• Constant Field Values

thresholdFactorStep

private double thresholdFactorStep

Step to make exhaustive search of threshold factor values between AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

Constructor Details

ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer

public ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer()

Constructor.

ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer

public ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer(AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource)

Constructor.

Parameters:

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

ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer

public ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer(com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator,
 com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator)

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).

Throws:

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

ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer

public ExhaustiveAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer(AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource,
 com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerNonLinearCalibrator accelerometerCalibrator,
 com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeNonLinearCalibrator gyroscopeCalibrator)

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).

Throws:

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

Method Details

getThresholdFactorStep

public double getThresholdFactorStep()

Gets the step to make exhaustive search of threshold values between AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

Returns:

step to make exhaustive search of threshold values.

setThresholdFactorStep

public void setThresholdFactorStep(double thresholdStep)
                            throws com.irurueta.navigation.LockedException

Sets step to make exhaustive search of threshold values between AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor() and AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer.getMaxThresholdFactor().

Parameters:

thresholdStep - step to make exhaustive search of threshold values.

Throws:

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

IllegalArgumentException - if provided value is zero or negative.

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,AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizerDataSource>

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.