Package com.irurueta.navigation.inertial.calibration

Class INSLooselyCoupledKalmanInitializerConfigCreatorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.INSLooselyCoupledKalmanInitializerConfigCreatorTest

class INSLooselyCoupledKalmanInitializerConfigCreatorTest
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	DEG_TO_RAD
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 double	TIME_INTERVAL_SECONDS
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
INSLooselyCoupledKalmanInitializerConfigCreatorTest()

Method Summary

Modifier and Type	Method	Description
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private void	generateDynamicSamples(com.irurueta.navigation.inertial.calibration.generators.AccelerometerAndGyroscopeMeasurementsGenerator generator, 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.algebra.Matrix	generateMaCommonAxis()
private static com.irurueta.algebra.Matrix	generateMg()
private void	generateStaticSamples(com.irurueta.navigation.inertial.calibration.generators.AccelerometerAndGyroscopeMeasurementsGenerator generator, int numSamples, com.irurueta.navigation.inertial.BodyKinematics trueKinematics, IMUErrors errors, Random random, int startSample)
private static void	generateStaticSamples(RandomWalkEstimator randomWalkEstimator, com.irurueta.navigation.inertial.BodyKinematics trueKinematics, IMUErrors errors, Random random)
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
private static double	interpolate(double value, double progress)
(package private) void	testConstructor1()
(package private) void	testConstructor2()
(package private) void	testConstructor3()
(package private) void	testCreate()
(package private) void	testGetSetAccelerometerBiasUncertaintySource()
(package private) void	testGetSetAttitudeUncertaintySource()
(package private) void	testGetSetGyroscopeBiasUncertaintySource()
(package private) void	testGetSetPositionUncertaintySource()
(package private) void	testGetSetVelocityUncertaintySource()

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

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

Constructor Details

INSLooselyCoupledKalmanInitializerConfigCreatorTest

INSLooselyCoupledKalmanInitializerConfigCreatorTest()

Method Details

testConstructor1

@Test
void testConstructor1()

testConstructor2

@Test
void testConstructor2()

testConstructor3

@Test
void testConstructor3()

testGetSetAccelerometerBiasUncertaintySource

@Test
void testGetSetAccelerometerBiasUncertaintySource()

testGetSetGyroscopeBiasUncertaintySource

@Test
void testGetSetGyroscopeBiasUncertaintySource()

testGetSetAttitudeUncertaintySource

@Test
void testGetSetAttitudeUncertaintySource()

testGetSetVelocityUncertaintySource

@Test
void testGetSetVelocityUncertaintySource()

testGetSetPositionUncertaintySource

@Test
void testGetSetPositionUncertaintySource()

testCreate

@Test
void testCreate()
         throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.navigation.NotReadyException,
RandomWalkEstimationException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.navigation.NotReadyException

RandomWalkEstimationException

com.irurueta.geometry.RotationException

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

generateMg

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

Throws:

com.irurueta.algebra.WrongSizeException

getAccelNoiseRootPSD

private static double getAccelNoiseRootPSD()

getGyroNoiseRootPSD

private static double getGyroNoiseRootPSD()

generateStaticSamples

private static void generateStaticSamples(RandomWalkEstimator randomWalkEstimator,
 com.irurueta.navigation.inertial.BodyKinematics trueKinematics,
 IMUErrors errors,
 Random random)
                                   throws com.irurueta.navigation.LockedException,
RandomWalkEstimationException,
com.irurueta.navigation.NotReadyException

Throws:

com.irurueta.navigation.LockedException

RandomWalkEstimationException

com.irurueta.navigation.NotReadyException

generateStaticSamples

private void generateStaticSamples(com.irurueta.navigation.inertial.calibration.generators.AccelerometerAndGyroscopeMeasurementsGenerator generator,
 int numSamples,
 com.irurueta.navigation.inertial.BodyKinematics trueKinematics,
 IMUErrors errors,
 Random random,
 int startSample)
                            throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

generateDynamicSamples

private void generateDynamicSamples(com.irurueta.navigation.inertial.calibration.generators.AccelerometerAndGyroscopeMeasurementsGenerator generator,
 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.navigation.LockedException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

interpolate

private static double interpolate(double value,
 double progress)