Package com.irurueta.navigation.inertial

Class INSLooselyCoupledKalmanEpochEstimator

java.lang.Object

com.irurueta.navigation.inertial.INSLooselyCoupledKalmanEpochEstimator

public class INSLooselyCoupledKalmanEpochEstimator
extends Object

Implements one cycle of the loosely coupled INS/GNSS Kalman filter plus closed-loop correction of all inertial states. This implementation is based on the equations defined in "Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition" and on the companion software available at: https://github.com/ymjdz/MATLAB-Codes/blob/master/LC_KF_Epoch.m

Field Summary

Fields

Modifier and Type	Field	Description
static final double	EARTH_ECCENTRICITY	Earth eccentricity as defined on the WGS84 ellipsoid.
static final double	EARTH_EQUATORIAL_RADIUS_WGS84	The equatorial radius of WGS84 ellipsoid (6378137 m) defining Earth's shape.
static final double	EARTH_ROTATION_RATE	Earth rotation rate expressed in radians per second (rad/s).
private static final int	POS_AND_VEL_COMPONENTS	Number of components of position + velocity.

Constructor Summary

Constructors

Modifier	Constructor	Description
private	INSLooselyCoupledKalmanEpochEstimator()	Constructor.

Method Summary

Modifier and Type	Method	Description
private static double	convertAngle(com.irurueta.units.Angle angle)	Converts angle instance into a value expressed in radians.
private static double	convertTime(com.irurueta.units.Time time)	Converts time instance into a value expressed in seconds.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimated the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state of a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(double x, double y, double z, double vx, double vy, double vz, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.geometry.Point3D userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state of a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state of a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state of a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state of a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state of a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state of a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state of a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.frames.ECEFPosition userPosition, com.irurueta.navigation.frames.ECEFVelocity userVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state of a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, double propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.
static INSLooselyCoupledKalmanState	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config)	Estimates the update of Kalman filter state for a single epoch.
static void	estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity, com.irurueta.units.Time propagationInterval, INSLooselyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSLooselyCoupledKalmanConfig config, INSLooselyCoupledKalmanState result)	Estimates the update of Kalman filter state for a single epoch.

Methods inherited from class java.lang.Object

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

Field Details

EARTH_ROTATION_RATE

public static final double EARTH_ROTATION_RATE

Earth rotation rate expressed in radians per second (rad/s).

See Also:

• Constant Field Values

EARTH_EQUATORIAL_RADIUS_WGS84

public static final double EARTH_EQUATORIAL_RADIUS_WGS84

The equatorial radius of WGS84 ellipsoid (6378137 m) defining Earth's shape.

See Also:

• Constant Field Values

EARTH_ECCENTRICITY

public static final double EARTH_ECCENTRICITY

Earth eccentricity as defined on the WGS84 ellipsoid.

See Also:

• Constant Field Values

POS_AND_VEL_COMPONENTS

private static final int POS_AND_VEL_COMPONENTS

Number of components of position + velocity.

See Also:

• Constant Field Values

Constructor Details

INSLooselyCoupledKalmanEpochEstimator

private INSLooselyCoupledKalmanEpochEstimator()

Constructor. Prevents instantiation of helper class.

Method Details

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - GNSS estimated ECEF user position.

userVelocity - GNSS estimated ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state of a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state of a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state of a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state of a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state of a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state of a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimated the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEf user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - GNSS estimated ECEF user position.

userVelocity - GNSS estimated ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state of a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state of a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.frames.ECEFPosition userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state of a single epoch.

Parameters:

userPosition - ECEF user position.

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

x - ECEF x coordinate of user position expressed in meters (m).

y - ECEF y coordinate of user position expressed in meters (m).

z - ECEF z coordinate of user position expressed in meters (m).

vx - ECEF x coordinate of user velocity expressed in meters per second (m/s).

vy - ECEF y coordinate of user velocity expressed in meters per second (m/s).

vz - ECEF z coordinate of user velocity expressed in meters per second (m/s).

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution expressed in radians (rad).

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.geometry.Point3D userPosition,
 com.irurueta.navigation.frames.ECEFVelocity userVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

userPosition - ECEF user position expressed in meters (m).

userVelocity - ECEF user velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 double propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval expressed in seconds (s).

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

bodyKinematics - body kinematics containing measured specific force resolved along body frame axes.

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static INSLooselyCoupledKalmanState estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

estimate

public static void estimate(com.irurueta.navigation.gnss.ECEFPositionAndVelocity positionAndVelocity,
 com.irurueta.units.Time propagationInterval,
 INSLooselyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSLooselyCoupledKalmanConfig config,
 INSLooselyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

Estimates the update of Kalman filter state for a single epoch.

Parameters:

positionAndVelocity - ECEF user position and velocity.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

fx - measured specific force resolved along body frame x-axis and expressed in meters per squared second (m/s^2).

fy - measured specific force resolved along body frame y-axis and expressed in meters per squared second (m/s^2).

fz - measured specific force resolved along body frame z-axis and expressed in meters per squared second (m/s^2).

previousLatitude - previous latitude solution.

config - Loosely Coupled Kalman filter configuration.

result - instance where new state of Kalman filter will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

convertTime

private static double convertTime(com.irurueta.units.Time time)

Converts time instance into a value expressed in seconds.

Parameters:

time - time instance to be converted.

Returns:

time value expressed in seconds.

convertAngle

private static double convertAngle(com.irurueta.units.Angle angle)

Converts angle instance into a value expressed in radians.

Parameters:

angle - angle instance to be converted.

Returns:

angle value expressed in radians.