Package com.irurueta.navigation.inertial.calibration

Class BodyKinematicsGenerator

java.lang.Object
com.irurueta.navigation.inertial.calibration.BodyKinematicsGenerator
public class BodyKinematicsGenerator extends Object
Generates body kinematic instances from true body kinematic values taking into account provided IMU errors for a calibrated IMU. 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/IMU_model.m

  • Constructor Summary

    Constructors
    Modifier
    Constructor
    Description
    private
    BodyKinematicsGenerator()
    Prevents instantiation of utility class.

  • Method Summary

    Modifier and Type
    Method
    Description
    private static double
    convertTime(com.irurueta.units.Time time)
    Converts provided time instance to seconds.
    static BodyKinematics
    generate(double timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random)
    Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    static BodyKinematics
    generate(double timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, double[] oldQuantizationResiduals, double[] quantizationResiduals)
    Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    static void
    generate(double timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, double[] oldQuantizationResiduals, BodyKinematics result, double[] quantizationResiduals)
    Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    static void
    generate(double timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, BodyKinematics result)
    Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    static Collection<BodyKinematics>
    generate(double timeInterval, Collection<BodyKinematics> trueKinematics, IMUErrors errors, Random random)
    Generates uncalibrated body kinematics instances containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    static void
    generate(double timeInterval, Collection<BodyKinematics> trueKinematics, IMUErrors errors, Random random, Collection<BodyKinematics> result)
    Generates uncalibrated body kinematics instances containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    static BodyKinematics
    generate(com.irurueta.units.Time timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random)
    Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    static BodyKinematics
    generate(com.irurueta.units.Time timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, double[] oldQuantizationResiduals, double[] quantizationResiduals)
    Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    static void
    generate(com.irurueta.units.Time timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, double[] oldQuantizationResiduals, BodyKinematics result, double[] quantizationResiduals)
    Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    static void
    generate(com.irurueta.units.Time timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, BodyKinematics result)
    Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    static Collection<BodyKinematics>
    generate(com.irurueta.units.Time timeInterval, Collection<BodyKinematics> trueKinematics, IMUErrors errors, Random random)
    Generates uncalibrated body kinematics instances containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    static void
    generate(com.irurueta.units.Time timeInterval, Collection<BodyKinematics> trueKinematics, IMUErrors errors, Random random, Collection<BodyKinematics> result)
    Generates uncalibrated body kinematics instances containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
    private static void
    internalGenerate(double timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, double[] oldQuantizationResiduals, BodyKinematics result, double[] quantizationResiduals, com.irurueta.algebra.Matrix trueFibb, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix trueOmegaibb, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix gg, com.irurueta.algebra.Matrix identity, com.irurueta.algebra.Matrix tmp33, com.irurueta.algebra.Matrix tmp31a, com.irurueta.algebra.Matrix tmp31b)
    Internally generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • BodyKinematicsGenerator

      private BodyKinematicsGenerator()
      Prevents instantiation of utility class.

  • Method Details

    • generate

      public static Collection<BodyKinematics> generate(com.irurueta.units.Time timeInterval, Collection<BodyKinematics> trueKinematics, IMUErrors errors, Random random)
      Generates uncalibrated body kinematics instances containing a certain level of noise for provided ground-truth body kinematics and IMU errors. This method ignores IMU quantization levels.
      Parameters:
      timeInterval - time interval between epochs.
      trueKinematics - collection of ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      Returns:
      a new collection containing generated uncalibrated kinematics for each provided ground-truth one.

    • generate

      public static void generate(com.irurueta.units.Time timeInterval, Collection<BodyKinematics> trueKinematics, IMUErrors errors, Random random, Collection<BodyKinematics> result)
      Generates uncalibrated body kinematics instances containing a certain level of noise for provided ground-truth body kinematics and IMU errors. This method ignores IMU quantization levels.
      Parameters:
      timeInterval - time interval between epochs.
      trueKinematics - collection of ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      result - collection where generated uncalibrated kinematics for each provided ground-truth one will be stored.

    • generate

      public static Collection<BodyKinematics> generate(double timeInterval, Collection<BodyKinematics> trueKinematics, IMUErrors errors, Random random)
      Generates uncalibrated body kinematics instances containing a certain level of noise for provided ground-truth body kinematics and IMU errors. This method ignores IMU quantization levels.
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      trueKinematics - collection of ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      Returns:
      a new collection containing generated uncalibrated kinematics for each provided ground-truth one.

    • generate

      public static void generate(double timeInterval, Collection<BodyKinematics> trueKinematics, IMUErrors errors, Random random, Collection<BodyKinematics> result)
      Generates uncalibrated body kinematics instances containing a certain level of noise for provided ground-truth body kinematics and IMU errors. This method ignores IMU quantization levels.
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      trueKinematics - collection of ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      result - collection where generated uncalibrated kinematics for each provided ground-truth one will be stored.

    • generate

      public static BodyKinematics generate(com.irurueta.units.Time timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random)
      Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      trueKinematics - ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      Returns:
      uncalibrated body kinematics.

    • generate

      public static void generate(com.irurueta.units.Time timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, BodyKinematics result)
      Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
      Parameters:
      timeInterval - time interval between epochs.
      trueKinematics - ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      result - instance where uncalibrated body kinematics will be stored.

    • generate

      public static BodyKinematics generate(double timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random)
      Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      trueKinematics - ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      Returns:
      uncalibrated body kinematics.

    • generate

      public static void generate(double timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, BodyKinematics result)
      Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      trueKinematics - ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      result - instance where uncalibrated body kinematics will be stored.

    • generate

      public static BodyKinematics generate(com.irurueta.units.Time timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, double[] oldQuantizationResiduals, double[] quantizationResiduals)
      Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
      Parameters:
      timeInterval - time interval between epochs.
      trueKinematics - ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      oldQuantizationResiduals - previous quantization residuals from previous executions. Optional. If provided, must have length 6, if not provided quantization levels are ignored.
      quantizationResiduals - generated quantization residuals. Optional. If provided, must have length 6.
      Returns:
      generated uncalibrated body kinematics.
      Throws:
      IllegalArgumentException - if either oldQuantizationResiduals or quantizationResiduals are not length 6.

    • generate

      public static void generate(com.irurueta.units.Time timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, double[] oldQuantizationResiduals, BodyKinematics result, double[] quantizationResiduals)
      Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
      Parameters:
      timeInterval - time interval between epochs.
      trueKinematics - ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      oldQuantizationResiduals - previous quantization residuals from previous executions. Optional. If provided, must have length 6, if not provided quantization levels are ignored.
      result - instance where uncalibrated body kinematics will be stored.
      quantizationResiduals - generated quantization residuals. Optional. If provided, must have length 6.
      Throws:
      IllegalArgumentException - if either oldQuantizationResiduals or quantizationResiduals are not length 6.

    • generate

      public static BodyKinematics generate(double timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, double[] oldQuantizationResiduals, double[] quantizationResiduals)
      Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      trueKinematics - ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      oldQuantizationResiduals - previous quantization residuals from previous executions. Optional. If provided, must have length 6, if not provided quantization levels are ignored.
      quantizationResiduals - generated quantization residuals. Optional. If provided, must have length 6.
      Returns:
      generated uncalibrated body kinematics.
      Throws:
      IllegalArgumentException - if either oldQuantizationResiduals or quantizationResiduals are not length 6.

    • generate

      public static void generate(double timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, double[] oldQuantizationResiduals, BodyKinematics result, double[] quantizationResiduals)
      Generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      trueKinematics - ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      oldQuantizationResiduals - previous quantization residuals from previous executions. Optional. If provided, must have length 6, if not provided quantization levels are ignored.
      result - instance where uncalibrated body kinematics will be stored.
      quantizationResiduals - generated quantization residuals. Optional. If provided, must have length 6.
      Throws:
      IllegalArgumentException - if either oldQuantizationResiduals or quantizationResiduals are not length 6.

    • internalGenerate

      private static void internalGenerate(double timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, double[] oldQuantizationResiduals, BodyKinematics result, double[] quantizationResiduals, com.irurueta.algebra.Matrix trueFibb, com.irurueta.algebra.Matrix ma, com.irurueta.algebra.Matrix ba, com.irurueta.algebra.Matrix trueOmegaibb, com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix bg, com.irurueta.algebra.Matrix gg, com.irurueta.algebra.Matrix identity, com.irurueta.algebra.Matrix tmp33, com.irurueta.algebra.Matrix tmp31a, com.irurueta.algebra.Matrix tmp31b) throws com.irurueta.algebra.WrongSizeException
      Internally generates an uncalibrated body kinematics instance containing a certain level of noise for provided ground-truth body kinematics and IMU errors.
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      trueKinematics - ground-truth kinematics.
      errors - IMU errors containing calibration data.
      random - a random number generator to generate noise.
      oldQuantizationResiduals - previous quantization residuals from previous executions. Optional. If provided, must have length 6, if not provided quantization levels are ignored.
      result - instance where uncalibrated body kinematics will be stored.
      quantizationResiduals - generated quantization residuals. Optional. If provided, must have length 6.
      trueFibb - 3x1 matrix to be reused for specific force storage.
      ma - 3x3 matrix to be reused for accelerometer scaling and cross coupling errors.
      ba - 3x1 matrix to be reused for accelerometer biases.
      trueOmegaibb - 3x1 matrix to be reused for angular rates storage.
      mg - 3x3 matrix to be reused for gyro scaling and cross coupling errors.
      bg - 3x1 matrix to be reused for gyro biases.
      gg - 3x3 matrix to be reused for gyro dependant cross coupling errors.
      identity - 3x3 identity matrix to be reused.
      tmp33 - 3x3 matrix to be reused.
      tmp31a - 3x1 matrix to be reused.
      tmp31b - 3x1 matrix to be reused.
      Throws:
      com.irurueta.algebra.WrongSizeException - if any of provided matrices has invalid size.
      IllegalArgumentException - if either oldQuantizationResiduals or quantizationResiduals are not length 6.

    • convertTime

      private static double convertTime(com.irurueta.units.Time time)
      Converts provided time instance to seconds.
      Parameters:
      time - time instance to be converted.
      Returns:
      converted value.