Package com.irurueta.navigation.inertial

Class INSTightlyCoupledKalmanEpochEstimator

java.lang.Object

com.irurueta.navigation.inertial.INSTightlyCoupledKalmanEpochEstimator

public class INSTightlyCoupledKalmanEpochEstimator
extends Object

Implements one cycle of the tightly 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/TC_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).
static final double	SPEED_OF_LIGHT	Speed of light in the vacuum expressed in meters per second (m/s).

Constructor Summary

Constructors

Modifier	Constructor	Description
private	INSTightlyCoupledKalmanEpochEstimator()	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 INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, double propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, double previousLatitude, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, double fx, double fy, double fz, com.irurueta.units.Angle previousLatitude, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, double previousLatitude, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static INSTightlyCoupledKalmanState	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSTightlyCoupledKalmanConfig config)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.
static void	estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements, com.irurueta.units.Time propagationInterval, INSTightlyCoupledKalmanState previousState, BodyKinematics bodyKinematics, com.irurueta.units.Angle previousLatitude, INSTightlyCoupledKalmanConfig config, INSTightlyCoupledKalmanState result)	Estimates the update of Kalman filter state and covariance matrix for a single epoch.

Methods inherited from class java.lang.Object

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

Field Details

SPEED_OF_LIGHT

public static final double SPEED_OF_LIGHT

Speed of light in the vacuum expressed in meters per second (m/s).

See Also:

• Constant Field Values

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

Constructor Details

INSTightlyCoupledKalmanEpochEstimator

private INSTightlyCoupledKalmanEpochEstimator()

Constructor. Prevents instantiation of helper class.

Method Details

estimate

public static void estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 double previousLatitude,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 second (m/s^2).

config - Tightly 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(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 double previousLatitude,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

propagationInterval - propagation interval.

previousState - previous Kalman filter state.

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

config - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 double fx,
 double fy,
 double fz,
 com.irurueta.units.Angle previousLatitude,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 double propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSTightlyCoupledKalmanConfig config,
 INSTightlyCoupledKalmanState result)
                     throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly 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 INSTightlyCoupledKalmanState estimate(Collection<com.irurueta.navigation.gnss.GNSSMeasurement> measurements,
 com.irurueta.units.Time propagationInterval,
 INSTightlyCoupledKalmanState previousState,
 BodyKinematics bodyKinematics,
 com.irurueta.units.Angle previousLatitude,
 INSTightlyCoupledKalmanConfig config)
                                             throws com.irurueta.algebra.AlgebraException

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

Parameters:

measurements - satellite measurements data.

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 - Tightly Coupled Kalman filter configuration.

Returns:

new state of Kalman filter.

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.