Package com.irurueta.navigation.inertial.calibration

Class DriftEstimatorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.DriftEstimatorTest

All Implemented Interfaces:

DriftEstimatorListener

class DriftEstimatorTest
extends Object
implements DriftEstimatorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	bodyKinematicsAdded
private final AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizerDataSource	dataSource
private static final double	DEG_TO_RAD
private static final double	FRAME_ABSOLUTE_ERROR
private static final Logger	LOGGER
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_DELTA_ANGLE_DEGREES
private static final double	MAX_DELTA_POS_METERS
private static final double	MAX_HEIGHT
private static final double	MAX_LATITUDE_DEGREES
private static final double	MAX_LONGITUDE_DEGREES
private static final double	MICRO_G_TO_METERS_PER_SECOND_SQUARED
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_DELTA_ANGLE_DEGREES
private static final double	MIN_DELTA_POS_METERS
private static final double	MIN_HEIGHT
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private static final int	N_SAMPLES
private int	reset
private int	start
private static final double	TIME_INTERVAL_SECONDS
private final List<TimedBodyKinematics>	timedBodyKinematics
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
DriftEstimatorTest()

Method Summary

Modifier and Type	Method	Description
private BracketedAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer	buildOptimizer(com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix ma, double accelNoiseRootPSD, double gyroNoiseRootPSD, com.irurueta.navigation.inertial.calibration.accelerometer.KnownGravityNormAccelerometerCalibrator accelerometerCalibrator, com.irurueta.navigation.inertial.calibration.gyroscope.EasyGyroscopeCalibrator gyroscopeCalibrator)
private static void	checkLocked(DriftEstimator estimator)
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private void	generateBodyKinematics(com.irurueta.navigation.frames.NEDFrame nedFrame, com.irurueta.navigation.frames.ECEFFrame ecefFrame, boolean changePosition, com.irurueta.algebra.Matrix ma, double accelNoiseRootPSD, double gyroNoiseRootPSD, int numSequences, int numMeasurements)
private void	generateDynamicSamples(int numSamples, com.irurueta.navigation.inertial.BodyKinematics trueKinematics, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.navigation.frames.ECEFFrame ecefFrame, com.irurueta.navigation.frames.NEDFrame nedFrame, IMUErrors errors, Random random, int startSample, boolean changePosition)
private static com.irurueta.navigation.frames.NEDFrame	generateFrame()
private static com.irurueta.algebra.Matrix	generateGg()
private static com.irurueta.algebra.Matrix	generateMaCommonAxis()
private static com.irurueta.algebra.Matrix	generateMaGeneral()
private static com.irurueta.algebra.Matrix	generateMg()
private void	generateStaticSamples(int numSamples, com.irurueta.navigation.inertial.BodyKinematics trueKinematics, IMUErrors errors, Random random, int startSample)
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
private static double	interpolate(double value, double progress)
void	onBodyKinematicsAdded(DriftEstimator estimator, com.irurueta.navigation.inertial.BodyKinematics measuredKinematics, com.irurueta.navigation.inertial.BodyKinematics fixedKinematics)
void	onReset(DriftEstimator estimator)
void	onStart(DriftEstimator estimator)
private static double	orientationDrift(com.irurueta.navigation.frames.ECEFFrame frame1, com.irurueta.navigation.frames.ECEFFrame frame2)
private static double	positionDrift(com.irurueta.navigation.frames.ECEFFrame frame1, com.irurueta.navigation.frames.ECEFFrame frame2)
private void	reset()
(package private) void	testAddBodyKinematicsAndResetApproximateCalibration()
(package private) void	testAddBodyKinematicsAndResetExactCalibrationNoNoiseAndKinematicsFixed()
(package private) void	testAddBodyKinematicsAndResetExactCalibrationNoNoiseAndKinematicsNotFixed()
(package private) void	testAddBodyKinematicsAndResetExactCalibrationWithNoiseAndKinematicsFixed()
(package private) void	testAddBodyKinematicsAndResetExactCalibrationWithNoiseAndKinematicsNotFixed()
(package private) void	testConstructor1()
(package private) void	testConstructor10()
(package private) void	testConstructor11()
(package private) void	testConstructor12()
(package private) void	testConstructor13()
(package private) void	testConstructor14()
(package private) void	testConstructor15()
(package private) void	testConstructor16()
(package private) void	testConstructor17()
(package private) void	testConstructor18()
(package private) void	testConstructor19()
(package private) void	testConstructor2()
(package private) void	testConstructor20()
(package private) void	testConstructor21()
(package private) void	testConstructor22()
(package private) void	testConstructor23()
(package private) void	testConstructor24()
(package private) void	testConstructor25()
(package private) void	testConstructor26()
(package private) void	testConstructor27()
(package private) void	testConstructor28()
(package private) void	testConstructor29()
(package private) void	testConstructor3()
(package private) void	testConstructor30()
(package private) void	testConstructor4()
(package private) void	testConstructor5()
(package private) void	testConstructor6()
(package private) void	testConstructor7()
(package private) void	testConstructor8()
(package private) void	testConstructor9()
(package private) void	testGetSetAccelerationBias()
(package private) void	testGetSetAccelerationBiasArray()
(package private) void	testGetSetAccelerationBiasAsTriad()
(package private) void	testGetSetAccelerationBiasX()
(package private) void	testGetSetAccelerationBiasXAsAcceleration()
(package private) void	testGetSetAccelerationBiasY()
(package private) void	testGetSetAccelerationBiasYAsAcceleration()
(package private) void	testGetSetAccelerationBiasZ()
(package private) void	testGetSetAccelerationBiasZAsAcceleration()
(package private) void	testGetSetAccelerationCrossCouplingErrors()
(package private) void	testGetSetAccelerationMxy()
(package private) void	testGetSetAccelerationMxz()
(package private) void	testGetSetAccelerationMyx()
(package private) void	testGetSetAccelerationMyz()
(package private) void	testGetSetAccelerationMzx()
(package private) void	testGetSetAccelerationMzy()
(package private) void	testGetSetAccelerationSx()
(package private) void	testGetSetAccelerationSy()
(package private) void	testGetSetAccelerationSz()
(package private) void	testGetSetAngularSpeedBias()
(package private) void	testGetSetAngularSpeedBiasArray()
(package private) void	testGetSetAngularSpeedBiasAsTriad()
(package private) void	testGetSetAngularSpeedBiasX()
(package private) void	testGetSetAngularSpeedBiasXAsAngularSpeed()
(package private) void	testGetSetAngularSpeedBiasY()
(package private) void	testGetSetAngularSpeedBiasYAsAngularSpeed()
(package private) void	testGetSetAngularSpeedBiasZ()
(package private) void	testGetSetAngularSpeedBiasZAsAngularSpeed()
(package private) void	testGetSetAngularSpeedCrossCouplingErrors()
(package private) void	testGetSetAngularSpeedGDependentCrossBias()
(package private) void	testGetSetAngularSpeedMxy()
(package private) void	testGetSetAngularSpeedMxz()
(package private) void	testGetSetAngularSpeedMyx()
(package private) void	testGetSetAngularSpeedMyz()
(package private) void	testGetSetAngularSpeedMzx()
(package private) void	testGetSetAngularSpeedMzy()
(package private) void	testGetSetAngularSpeedSx()
(package private) void	testGetSetAngularSpeedSy()
(package private) void	testGetSetAngularSpeedSz()
(package private) void	testGetSetListener()
(package private) void	testGetSetReferenceEcefCoordinateTransformation()
(package private) void	testGetSetReferenceEcefPosition()
(package private) void	testGetSetReferenceEcefVelocity()
(package private) void	testGetSetReferenceFrame()
(package private) void	testGetSetReferenceNedCoordinateTransformation()
(package private) void	testGetSetReferenceNedFrame()
(package private) void	testGetSetReferenceNedPosition()
(package private) void	testGetSetReferenceNedVelocity()
(package private) void	testGetSetTimeInterval()
(package private) void	testGetSetTimeIntervalAsTime()
(package private) void	testIsSetFixKinematicsEnabled()
(package private) void	testSetAccelerationBias1()
(package private) void	testSetAccelerationBias2()
(package private) void	testSetAccelerationCrossCouplingErrors()
(package private) void	testSetAccelerationScalingFactors()
(package private) void	testSetAccelerationScalingFactorsAndCrossCouplingErrors()
(package private) void	testSetAngularSpeedBias1()
(package private) void	testSetAngularSpeedBias2()
(package private) void	testSetAngularSpeedCrossCouplingErrors()
(package private) void	testSetAngularSpeedScalingFactorAndCrossCouplingErrors()
(package private) void	testSetAngularSpeedScalingFactors()
private static double	velocityDrift(com.irurueta.navigation.frames.ECEFFrame frame1, com.irurueta.navigation.frames.ECEFFrame frame2)

Methods inherited from class java.lang.Object

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

Field Details

TIME_INTERVAL_SECONDS

private static final double TIME_INTERVAL_SECONDS

See Also:

• Constant Field Values

MICRO_G_TO_METERS_PER_SECOND_SQUARED

private static final double MICRO_G_TO_METERS_PER_SECOND_SQUARED

See Also:

• Constant Field Values

DEG_TO_RAD

private static final double DEG_TO_RAD

See Also:

• Constant Field Values

MIN_ANGLE_DEGREES

private static final double MIN_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_ANGLE_DEGREES

private static final double MAX_ANGLE_DEGREES

See Also:

• Constant Field Values

MIN_LATITUDE_DEGREES

private static final double MIN_LATITUDE_DEGREES

See Also:

• Constant Field Values

MAX_LATITUDE_DEGREES

private static final double MAX_LATITUDE_DEGREES

See Also:

• Constant Field Values

MIN_LONGITUDE_DEGREES

private static final double MIN_LONGITUDE_DEGREES

See Also:

• Constant Field Values

MAX_LONGITUDE_DEGREES

private static final double MAX_LONGITUDE_DEGREES

See Also:

• Constant Field Values

MIN_HEIGHT

private static final double MIN_HEIGHT

See Also:

• Constant Field Values

MAX_HEIGHT

private static final double MAX_HEIGHT

See Also:

• Constant Field Values

N_SAMPLES

private static final int N_SAMPLES

See Also:

• Constant Field Values

FRAME_ABSOLUTE_ERROR

private static final double FRAME_ABSOLUTE_ERROR

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

MIN_DELTA_POS_METERS

private static final double MIN_DELTA_POS_METERS

See Also:

• Constant Field Values

MAX_DELTA_POS_METERS

private static final double MAX_DELTA_POS_METERS

See Also:

• Constant Field Values

MIN_DELTA_ANGLE_DEGREES

private static final double MIN_DELTA_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_DELTA_ANGLE_DEGREES

private static final double MAX_DELTA_ANGLE_DEGREES

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

LOGGER

private static final Logger LOGGER

start

private int start

bodyKinematicsAdded

private int bodyKinematicsAdded

reset

private int reset

timedBodyKinematics

private final List<TimedBodyKinematics> timedBodyKinematics

dataSource

private final AccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizerDataSource dataSource

Constructor Details

DriftEstimatorTest

DriftEstimatorTest()

Method Details

testConstructor1

@Test
void testConstructor1()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor2

@Test
void testConstructor2()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor3

@Test
void testConstructor3()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor4

@Test
void testConstructor4()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor5

@Test
void testConstructor5()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor6

@Test
void testConstructor6()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor7

@Test
void testConstructor7()
               throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor8

@Test
void testConstructor8()
               throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor9

@Test
void testConstructor9()
               throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor10

@Test
void testConstructor10()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor11

@Test
void testConstructor11()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor12

@Test
void testConstructor12()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor13

@Test
void testConstructor13()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor14

@Test
void testConstructor14()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor15

@Test
void testConstructor15()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor16

@Test
void testConstructor16()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor17

@Test
void testConstructor17()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor18

@Test
void testConstructor18()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor19

@Test
void testConstructor19()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor20

@Test
void testConstructor20()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor21

@Test
void testConstructor21()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor22

@Test
void testConstructor22()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor23

@Test
void testConstructor23()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor24

@Test
void testConstructor24()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor25

@Test
void testConstructor25()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor26

@Test
void testConstructor26()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor27

@Test
void testConstructor27()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor28

@Test
void testConstructor28()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor29

@Test
void testConstructor29()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor30

@Test
void testConstructor30()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetListener

@Test
void testGetSetListener()
                 throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetReferenceFrame

@Test
void testGetSetReferenceFrame()
                       throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetReferenceNedFrame

@Test
void testGetSetReferenceNedFrame()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetReferenceEcefPosition

@Test
void testGetSetReferenceEcefPosition()
                              throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetReferenceEcefVelocity

@Test
void testGetSetReferenceEcefVelocity()
                              throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetReferenceEcefCoordinateTransformation

@Test
void testGetSetReferenceEcefCoordinateTransformation()
                                              throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testGetSetReferenceNedPosition

@Test
void testGetSetReferenceNedPosition()
                             throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetReferenceNedVelocity

@Test
void testGetSetReferenceNedVelocity()
                             throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetReferenceNedCoordinateTransformation

@Test
void testGetSetReferenceNedCoordinateTransformation()
                                             throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testGetSetAccelerationBias

@Test
void testGetSetAccelerationBias()
                         throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasArray

@Test
void testGetSetAccelerationBiasArray()
                              throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasAsTriad

@Test
void testGetSetAccelerationBiasAsTriad()
                                throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasX

@Test
void testGetSetAccelerationBiasX()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasY

@Test
void testGetSetAccelerationBiasY()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasZ

@Test
void testGetSetAccelerationBiasZ()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetAccelerationBias1

@Test
void testSetAccelerationBias1()
                       throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasXAsAcceleration

@Test
void testGetSetAccelerationBiasXAsAcceleration()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasYAsAcceleration

@Test
void testGetSetAccelerationBiasYAsAcceleration()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasZAsAcceleration

@Test
void testGetSetAccelerationBiasZAsAcceleration()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetAccelerationBias2

@Test
void testSetAccelerationBias2()
                       throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationCrossCouplingErrors

@Test
void testGetSetAccelerationCrossCouplingErrors()
                                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationSx

@Test
void testGetSetAccelerationSx()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationSy

@Test
void testGetSetAccelerationSy()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationSz

@Test
void testGetSetAccelerationSz()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMxy

@Test
void testGetSetAccelerationMxy()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMxz

@Test
void testGetSetAccelerationMxz()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMyx

@Test
void testGetSetAccelerationMyx()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMyz

@Test
void testGetSetAccelerationMyz()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMzx

@Test
void testGetSetAccelerationMzx()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMzy

@Test
void testGetSetAccelerationMzy()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAccelerationScalingFactors

@Test
void testSetAccelerationScalingFactors()
                                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAccelerationCrossCouplingErrors

@Test
void testSetAccelerationCrossCouplingErrors()
                                     throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAccelerationScalingFactorsAndCrossCouplingErrors

@Test
void testSetAccelerationScalingFactorsAndCrossCouplingErrors()
                                                      throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBias

@Test
void testGetSetAngularSpeedBias()
                         throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasArray

@Test
void testGetSetAngularSpeedBiasArray()
                              throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasAsTriad

@Test
void testGetSetAngularSpeedBiasAsTriad()
                                throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasX

@Test
void testGetSetAngularSpeedBiasX()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasY

@Test
void testGetSetAngularSpeedBiasY()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasZ

@Test
void testGetSetAngularSpeedBiasZ()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetAngularSpeedBias1

@Test
void testSetAngularSpeedBias1()
                       throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasXAsAngularSpeed

@Test
void testGetSetAngularSpeedBiasXAsAngularSpeed()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasYAsAngularSpeed

@Test
void testGetSetAngularSpeedBiasYAsAngularSpeed()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasZAsAngularSpeed

@Test
void testGetSetAngularSpeedBiasZAsAngularSpeed()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetAngularSpeedBias2

@Test
void testSetAngularSpeedBias2()
                       throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedCrossCouplingErrors

@Test
void testGetSetAngularSpeedCrossCouplingErrors()
                                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedSx

@Test
void testGetSetAngularSpeedSx()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedSy

@Test
void testGetSetAngularSpeedSy()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedSz

@Test
void testGetSetAngularSpeedSz()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMxy

@Test
void testGetSetAngularSpeedMxy()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMxz

@Test
void testGetSetAngularSpeedMxz()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMyx

@Test
void testGetSetAngularSpeedMyx()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMyz

@Test
void testGetSetAngularSpeedMyz()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMzx

@Test
void testGetSetAngularSpeedMzx()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMzy

@Test
void testGetSetAngularSpeedMzy()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAngularSpeedScalingFactors

@Test
void testSetAngularSpeedScalingFactors()
                                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAngularSpeedCrossCouplingErrors

@Test
void testSetAngularSpeedCrossCouplingErrors()
                                     throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAngularSpeedScalingFactorAndCrossCouplingErrors

@Test
void testSetAngularSpeedScalingFactorAndCrossCouplingErrors()
                                                     throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedGDependentCrossBias

@Test
void testGetSetAngularSpeedGDependentCrossBias()
                                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testIsSetFixKinematicsEnabled

@Test
void testIsSetFixKinematicsEnabled()
                            throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetTimeInterval

@Test
void testGetSetTimeInterval()
                     throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetTimeIntervalAsTime

@Test
void testGetSetTimeIntervalAsTime()
                           throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testAddBodyKinematicsAndResetExactCalibrationNoNoiseAndKinematicsFixed

@Test
void testAddBodyKinematicsAndResetExactCalibrationNoNoiseAndKinematicsFixed()
                                                                     throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
DriftEstimationException,
com.irurueta.geometry.RotationException,
com.irurueta.navigation.inertial.navigators.InertialNavigatorException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

DriftEstimationException

com.irurueta.geometry.RotationException

com.irurueta.navigation.inertial.navigators.InertialNavigatorException

com.irurueta.geometry.InvalidRotationMatrixException

testAddBodyKinematicsAndResetExactCalibrationNoNoiseAndKinematicsNotFixed

@Test
void testAddBodyKinematicsAndResetExactCalibrationNoNoiseAndKinematicsNotFixed()
                                                                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
DriftEstimationException,
com.irurueta.navigation.inertial.navigators.InertialNavigatorException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

DriftEstimationException

com.irurueta.navigation.inertial.navigators.InertialNavigatorException

com.irurueta.geometry.InvalidRotationMatrixException

testAddBodyKinematicsAndResetExactCalibrationWithNoiseAndKinematicsFixed

@Test
void testAddBodyKinematicsAndResetExactCalibrationWithNoiseAndKinematicsFixed()
                                                                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
DriftEstimationException,
com.irurueta.geometry.RotationException,
com.irurueta.navigation.inertial.navigators.InertialNavigatorException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

DriftEstimationException

com.irurueta.geometry.RotationException

com.irurueta.navigation.inertial.navigators.InertialNavigatorException

com.irurueta.geometry.InvalidRotationMatrixException

testAddBodyKinematicsAndResetExactCalibrationWithNoiseAndKinematicsNotFixed

@Test
void testAddBodyKinematicsAndResetExactCalibrationWithNoiseAndKinematicsNotFixed()
                                                                          throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
DriftEstimationException,
com.irurueta.geometry.RotationException,
com.irurueta.navigation.inertial.navigators.InertialNavigatorException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

DriftEstimationException

com.irurueta.geometry.RotationException

com.irurueta.navigation.inertial.navigators.InertialNavigatorException

com.irurueta.geometry.InvalidRotationMatrixException

testAddBodyKinematicsAndResetApproximateCalibration

@Test
void testAddBodyKinematicsAndResetApproximateCalibration()
                                                  throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
DriftEstimationException,
com.irurueta.geometry.RotationException,
com.irurueta.navigation.inertial.navigators.InertialNavigatorException,
com.irurueta.geometry.InvalidRotationMatrixException,
IntervalDetectorThresholdFactorOptimizerException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

DriftEstimationException

com.irurueta.geometry.RotationException

com.irurueta.navigation.inertial.navigators.InertialNavigatorException

com.irurueta.geometry.InvalidRotationMatrixException

IntervalDetectorThresholdFactorOptimizerException

onStart

public void onStart(DriftEstimator estimator)

Specified by:

onStart in interface DriftEstimatorListener

onBodyKinematicsAdded

public void onBodyKinematicsAdded(DriftEstimator estimator,
 com.irurueta.navigation.inertial.BodyKinematics measuredKinematics,
 com.irurueta.navigation.inertial.BodyKinematics fixedKinematics)

Specified by:

onBodyKinematicsAdded in interface DriftEstimatorListener

onReset

public void onReset(DriftEstimator estimator)

Specified by:

onReset in interface DriftEstimatorListener

reset

private void reset()

checkLocked

private static void checkLocked(DriftEstimator estimator)

buildOptimizer

private BracketedAccelerometerAndGyroscopeIntervalDetectorThresholdFactorOptimizer buildOptimizer(com.irurueta.algebra.Matrix ba,
 com.irurueta.algebra.Matrix ma,
 double accelNoiseRootPSD,
 double gyroNoiseRootPSD,
 com.irurueta.navigation.inertial.calibration.accelerometer.KnownGravityNormAccelerometerCalibrator accelerometerCalibrator,
 com.irurueta.navigation.inertial.calibration.gyroscope.EasyGyroscopeCalibrator gyroscopeCalibrator)
                                                                                           throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

com.irurueta.geometry.RotationException

generateBodyKinematics

private void generateBodyKinematics(com.irurueta.navigation.frames.NEDFrame nedFrame,
 com.irurueta.navigation.frames.ECEFFrame ecefFrame,
 boolean changePosition,
 com.irurueta.algebra.Matrix ma,
 double accelNoiseRootPSD,
 double gyroNoiseRootPSD,
 int numSequences,
 int numMeasurements)
                             throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

generateFrame

private static com.irurueta.navigation.frames.NEDFrame generateFrame()
                                                              throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

generateBa

private static com.irurueta.algebra.Matrix generateBa()

generateBg

private static com.irurueta.algebra.Matrix generateBg()

generateMaCommonAxis

private static com.irurueta.algebra.Matrix generateMaCommonAxis()
                                                         throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateMaGeneral

private static com.irurueta.algebra.Matrix generateMaGeneral()
                                                      throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateMg

private static com.irurueta.algebra.Matrix generateMg()
                                               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateGg

private static com.irurueta.algebra.Matrix generateGg()
                                               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

getAccelNoiseRootPSD

private static double getAccelNoiseRootPSD()

getGyroNoiseRootPSD

private static double getGyroNoiseRootPSD()

generateStaticSamples

private void generateStaticSamples(int numSamples,
 com.irurueta.navigation.inertial.BodyKinematics trueKinematics,
 IMUErrors errors,
 Random random,
 int startSample)

generateDynamicSamples

private void generateDynamicSamples(int numSamples,
 com.irurueta.navigation.inertial.BodyKinematics trueKinematics,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.navigation.frames.ECEFFrame ecefFrame,
 com.irurueta.navigation.frames.NEDFrame nedFrame,
 IMUErrors errors,
 Random random,
 int startSample,
 boolean changePosition)
                             throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

interpolate

private static double interpolate(double value,
 double progress)

positionDrift

private static double positionDrift(com.irurueta.navigation.frames.ECEFFrame frame1,
 com.irurueta.navigation.frames.ECEFFrame frame2)

velocityDrift

private static double velocityDrift(com.irurueta.navigation.frames.ECEFFrame frame1,
 com.irurueta.navigation.frames.ECEFFrame frame2)

orientationDrift

private static double orientationDrift(com.irurueta.navigation.frames.ECEFFrame frame1,
 com.irurueta.navigation.frames.ECEFFrame frame2)
                                throws com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.geometry.InvalidRotationMatrixException