1 /*
2 * Copyright (C) 2021 Alberto Irurueta Carro (alberto@irurueta.com)
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16 package com.irurueta.navigation.inertial.calibration;
17
18 import com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig;
19 import com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig;
20
21 /**
22 * Defines a source for velocity uncertainty.
23 */
24 public interface VelocityUncertaintySource {
25
26 /**
27 * Gets velocity uncertainty expressed in meters per second (m/s).
28 * Velocity uncertainty can be measured using a RandomWalkEstimator,
29 * which is appropriate to create a {@link INSLooselyCoupledKalmanConfig} or
30 * a {@link INSLooselyCoupledKalmanInitializerConfig}.
31 * However, to create a {@link INSLooselyCoupledKalmanInitializerConfig},
32 * typically position, velocity and attitude are externally measured by other
33 * means introducing a different amount of uncertainty (e.g., GPS).
34 *
35 * @return velocity uncertainty expressed in meters per second (m/s).
36 */
37 double getVelocityUncertainty();
38 }