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

Class BracketedMagnetometerIntervalDetectorThresholdFactorOptimizerTest

java.lang.Object

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

All Implemented Interfaces:

IntervalDetectorThresholdFactorOptimizerListener<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

class BracketedMagnetometerIntervalDetectorThresholdFactorOptimizerTest
extends Object
implements IntervalDetectorThresholdFactorOptimizerListener<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private final List<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity>	bodyKinematicsAndMagneticFluxDensities
private final MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource	dataSource
private static final double	DEG_TO_RAD
private int	end
private static final Calendar	END_CALENDAR
private static final long	END_TIMESTAMP_MILLIS
private final com.irurueta.navigation.inertial.calibration.generators.MagnetometerMeasurementsGeneratorListener	generatorListener
private final List<StandardDeviationBodyMagneticFluxDensity>	generatorMeasurements
private static final double	LARGE_ABSOLUTE_ERROR
private static final double	MAGNETOMETER_NOISE_STD
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_HARD_IRON
private static final double	MAX_HEIGHT_METERS
private static final double	MAX_LATITUDE_DEGREES
private static final double	MAX_LONGITUDE_DEGREES
private static final double	MAX_SOFT_IRON
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_HARD_IRON
private static final double	MIN_HEIGHT_METERS
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private static final double	MIN_SOFT_IRON
private float	progress
private static final double	SMALL_MAGNETOMETER_NOISE_STD
private int	start
private static final Calendar	START_CALENDAR
private static final long	START_TIMESTAMP_MILLIS
private static final double	TIME_INTERVAL_SECONDS
private static final int	TIMES
private static final double	VERY_LARGE_ABSOLUTE_ERROR

Constructor Summary

Constructors

Constructor	Description
BracketedMagnetometerIntervalDetectorThresholdFactorOptimizerTest()

Method Summary

Modifier and Type	Method	Description
private static void	checkLocked(BracketedMagnetometerIntervalDetectorThresholdFactorOptimizer optimizer)
private static com.irurueta.navigation.frames.NEDPosition	createPosition(com.irurueta.statistics.UniformRandomizer randomizer)
private static long	createTimestamp(com.irurueta.statistics.UniformRandomizer randomizer)
private static com.irurueta.navigation.inertial.BodyMagneticFluxDensity	generateB(double[] hardIron, com.irurueta.algebra.Matrix softIron, com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.GaussianRandomizer noiseRandomizer, Date timestamp, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.CoordinateTransformation cnb)
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private static com.irurueta.navigation.frames.CoordinateTransformation	generateBodyC(com.irurueta.statistics.UniformRandomizer randomizer)
private boolean	generateBodyKinematicsAndMagneticFluxDensity(boolean changePosition, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix mm, double accelNoiseRootPSD, double gyroNoiseRootPSD, int numMeasurements, Date timestamp, com.irurueta.navigation.frames.NEDPosition nedPosition, double magnetometerNoiseStd)
private void	generateDynamicSamples(com.irurueta.navigation.inertial.calibration.generators.MagnetometerMeasurementsGenerator 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, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix mm, com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator, Random random, Date timestamp, com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation cnb, com.irurueta.statistics.GaussianRandomizer noiseRandomizer, boolean changePosition)
private static com.irurueta.algebra.Matrix	generateGg()
private static double[]	generateHardIron(com.irurueta.statistics.UniformRandomizer randomizer)
private static com.irurueta.algebra.Matrix	generateMaCommonAxis()
private static com.irurueta.navigation.inertial.BodyMagneticFluxDensity	generateMeasuredMagneticFluxDensity(com.irurueta.navigation.inertial.BodyMagneticFluxDensity input, double[] hardIron, com.irurueta.algebra.Matrix softIron)
private static com.irurueta.algebra.Matrix	generateMg()
private static com.irurueta.algebra.Matrix	generateSoftIronCommonAxis()
private static com.irurueta.algebra.Matrix	generateSoftIronGeneral()
private void	generateStaticSamples(com.irurueta.navigation.inertial.calibration.generators.MagnetometerMeasurementsGenerator generator, int numSamples, com.irurueta.navigation.inertial.BodyKinematics trueKinematics, IMUErrors errors, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix mm, com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator, Random random, Date timestamp, com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation cnb, com.irurueta.statistics.GaussianRandomizer noiseRandomizer)
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
void	onOptimizeEnd(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)
void	onOptimizeProgressChange(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer, float progress)
void	onOptimizeStart(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)
private void	reset()
(package private) void	testConstructor1()
(package private) void	testConstructor2()
(package private) void	testConstructor3()
(package private) void	testConstructor4()
(package private) void	testConstructor5()
(package private) void	testConstructor6()
(package private) void	testConstructor7()
(package private) void	testConstructor8()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThreshold()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement()
(package private) void	testGetSetCalibrator()
(package private) void	testGetSetDataSource()
(package private) void	testGetSetInitialStaticSamples()
(package private) void	testGetSetInstantaneousNoiseLevelFactor()
(package private) void	testGetSetListener()
(package private) void	testGetSetMaxDynamicSamples()
(package private) void	testGetSetMinStaticSamples()
(package private) void	testGetSetMseOptimizer()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetQualityScoreMapper()
(package private) void	testGetSetThresholdFactorRange()
(package private) void	testGetSetTimeInterval()
(package private) void	testGetSetTimeIntervalAsTime()
(package private) void	testGetSetWindowSize()
(package private) void	testIsReady()
(package private) void	testOptimizeCommonAxisSmallNoiseOnlyRotation()
(package private) void	testOptimizeCommonAxisSmallNoiseWithRotationAndPositionChange()
(package private) void	testOptimizeGeneralWithNoise()
(package private) void	testOptimizeRobustCalibrator()

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_HARD_IRON

private static final double MIN_HARD_IRON

See Also:

• Constant Field Values

MAX_HARD_IRON

private static final double MAX_HARD_IRON

See Also:

• Constant Field Values

MIN_SOFT_IRON

private static final double MIN_SOFT_IRON

See Also:

• Constant Field Values

MAX_SOFT_IRON

private static final double MAX_SOFT_IRON

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_METERS

private static final double MIN_HEIGHT_METERS

See Also:

• Constant Field Values

MAX_HEIGHT_METERS

private static final double MAX_HEIGHT_METERS

See Also:

• Constant Field Values

SMALL_MAGNETOMETER_NOISE_STD

private static final double SMALL_MAGNETOMETER_NOISE_STD

See Also:

• Constant Field Values

MAGNETOMETER_NOISE_STD

private static final double MAGNETOMETER_NOISE_STD

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

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

VERY_LARGE_ABSOLUTE_ERROR

private static final double VERY_LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

START_CALENDAR

private static final Calendar START_CALENDAR

END_CALENDAR

private static final Calendar END_CALENDAR

START_TIMESTAMP_MILLIS

private static final long START_TIMESTAMP_MILLIS

END_TIMESTAMP_MILLIS

private static final long END_TIMESTAMP_MILLIS

bodyKinematicsAndMagneticFluxDensities

private final List<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity> bodyKinematicsAndMagneticFluxDensities

dataSource

private final MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource

generatorListener

private final com.irurueta.navigation.inertial.calibration.generators.MagnetometerMeasurementsGeneratorListener generatorListener

generatorMeasurements

private final List<StandardDeviationBodyMagneticFluxDensity> generatorMeasurements

start

private int start

end

private int end

progress

private float progress

Constructor Details

BracketedMagnetometerIntervalDetectorThresholdFactorOptimizerTest

BracketedMagnetometerIntervalDetectorThresholdFactorOptimizerTest()

Method Details

testConstructor1

@Test
void testConstructor1()

testConstructor2

@Test
void testConstructor2()

testConstructor3

@Test
void testConstructor3()

testConstructor4

@Test
void testConstructor4()

testConstructor5

@Test
void testConstructor5()

testConstructor6

@Test
void testConstructor6()

testConstructor7

@Test
void testConstructor7()

testConstructor8

@Test
void testConstructor8()

testGetSetMseOptimizer

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

Throws:

com.irurueta.navigation.LockedException

testIsReady

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

Throws:

com.irurueta.navigation.LockedException

testGetSetCalibrator

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

Throws:

com.irurueta.navigation.LockedException

testGetSetQualityScoreMapper

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

Throws:

com.irurueta.navigation.LockedException

testGetSetThresholdFactorRange

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

Throws:

com.irurueta.navigation.LockedException

testGetSetDataSource

@Test
void testGetSetDataSource()
                   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

testGetSetMinStaticSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetMaxDynamicSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetWindowSize

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialStaticSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInstantaneousNoiseLevelFactor

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBaseNoiseLevelAbsoluteThreshold

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement

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

Throws:

com.irurueta.navigation.LockedException

testGetSetListener

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

Throws:

com.irurueta.navigation.LockedException

testGetSetProgressDelta

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

Throws:

com.irurueta.navigation.LockedException

testOptimizeGeneralWithNoise

@Test
void testOptimizeGeneralWithNoise()
                           throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
IntervalDetectorThresholdFactorOptimizerException,
CalibrationException,
IOException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IntervalDetectorThresholdFactorOptimizerException

CalibrationException

IOException

testOptimizeCommonAxisSmallNoiseOnlyRotation

@Test
void testOptimizeCommonAxisSmallNoiseOnlyRotation()
                                           throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException,
IOException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

IOException

testOptimizeCommonAxisSmallNoiseWithRotationAndPositionChange

@Test
void testOptimizeCommonAxisSmallNoiseWithRotationAndPositionChange()
                                                            throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException,
IOException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

IOException

testOptimizeRobustCalibrator

@Test
void testOptimizeRobustCalibrator()
                           throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
IntervalDetectorThresholdFactorOptimizerException,
CalibrationException,
IOException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IntervalDetectorThresholdFactorOptimizerException

CalibrationException

IOException

onOptimizeStart

public void onOptimizeStart(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)

Specified by:

onOptimizeStart in interface IntervalDetectorThresholdFactorOptimizerListener<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

onOptimizeEnd

public void onOptimizeEnd(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)

Specified by:

onOptimizeEnd in interface IntervalDetectorThresholdFactorOptimizerListener<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

onOptimizeProgressChange

public void onOptimizeProgressChange(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer,
 float progress)

Specified by:

onOptimizeProgressChange in interface IntervalDetectorThresholdFactorOptimizerListener<com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity,MagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

checkLocked

private static void checkLocked(BracketedMagnetometerIntervalDetectorThresholdFactorOptimizer optimizer)

reset

private void reset()

generateBodyKinematicsAndMagneticFluxDensity

private boolean generateBodyKinematicsAndMagneticFluxDensity(boolean changePosition,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix mm,
 double accelNoiseRootPSD,
 double gyroNoiseRootPSD,
 int numMeasurements,
 Date timestamp,
 com.irurueta.navigation.frames.NEDPosition nedPosition,
 double magnetometerNoiseStd)
                                                      throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
IOException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

IOException

generateB

private static com.irurueta.navigation.inertial.BodyMagneticFluxDensity generateB(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer,
 Date timestamp,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.CoordinateTransformation cnb)

generateBodyC

private static com.irurueta.navigation.frames.CoordinateTransformation generateBodyC(com.irurueta.statistics.UniformRandomizer randomizer)

generateMeasuredMagneticFluxDensity

private static com.irurueta.navigation.inertial.BodyMagneticFluxDensity generateMeasuredMagneticFluxDensity(com.irurueta.navigation.inertial.BodyMagneticFluxDensity input,
 double[] hardIron,
 com.irurueta.algebra.Matrix softIron)

generateHardIron

private static double[] generateHardIron(com.irurueta.statistics.UniformRandomizer randomizer)

generateSoftIronCommonAxis

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

generateSoftIronGeneral

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

createPosition

private static com.irurueta.navigation.frames.NEDPosition createPosition(com.irurueta.statistics.UniformRandomizer randomizer)

createTimestamp

private static long createTimestamp(com.irurueta.statistics.UniformRandomizer randomizer)

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

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(com.irurueta.navigation.inertial.calibration.generators.MagnetometerMeasurementsGenerator generator,
 int numSamples,
 com.irurueta.navigation.inertial.BodyKinematics trueKinematics,
 IMUErrors errors,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix mm,
 com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 Random random,
 Date timestamp,
 com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation cnb,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer)
                            throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

generateDynamicSamples

private void generateDynamicSamples(com.irurueta.navigation.inertial.calibration.generators.MagnetometerMeasurementsGenerator 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,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix mm,
 com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 Random random,
 Date timestamp,
 com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation cnb,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer,
 boolean changePosition)
                             throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException