Package com.irurueta.navigation.inertial.calibration.accelerometer

Class KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator
All Implemented Interfaces:
AccelerometerCalibrator, AccelerometerNonLinearCalibrator, KnownBiasAccelerometerCalibrator, KnownBiasAndFrameAccelerometerCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener>, UnorderedStandardDeviationFrameBodyKinematicsAccelerometerCalibrator
public class KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator extends Object implements KnownBiasAndFrameAccelerometerCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener>, AccelerometerNonLinearCalibrator, UnorderedStandardDeviationFrameBodyKinematicsAccelerometerCalibrator
Estimates accelerometer cross couplings and scaling factors. This estimator assumes that biases are known.

This calibrator uses an iterative approach to find a minimum least squared error solution.

To use this calibrator it is assumed that body position and orientation is known and that body remains static on the same position while being calibrated.

Measured specific force is assumed to follow the model shown below: 

     fmeas = ba + (I + Ma) * ftrue + w
Where: - fmeas is the measured specific force. This is a 3x1 vector. - ba is accelerometer bias. This is a known 3x1 vector. - I is the 3x3 identity matrix. - Ma is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on a perfect accelerometer, this should be a 3x3 zero matrix. - ftrue is ground-trush specific force. - w is measurement noise.

  • Field Details

    • DEFAULT_USE_COMMON_Z_AXIS

      public static final boolean DEFAULT_USE_COMMON_Z_AXIS
      Indicates whether by default a common z-axis is assumed for both the accelerometer and gyroscope.
      See Also:

    • MINIMUM_MEASUREMENTS

      public static final int MINIMUM_MEASUREMENTS
      Required minimum number of measurements.
      See Also:

    • COMMON_Z_AXIS_UNKNOWNS

      private static final int COMMON_Z_AXIS_UNKNOWNS
      Number of unknowns when common z-axis is assumed for both the accelerometer and gyroscope.
      See Also:

    • GENERAL_UNKNOWNS

      private static final int GENERAL_UNKNOWNS
      Number of unknowns for the general case.
      See Also:

    • fitter

      private final com.irurueta.numerical.fitting.LevenbergMarquardtMultiVariateFitter fitter
      Levenberg-Marquardt fitter to find a non-linear solution.

    • biasX

      private double biasX
      Known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).

    • biasY

      private double biasY
      Known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).

    • biasZ

      private double biasZ
      Known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).

    • initialSx

      private double initialSx
      Initial x scaling factor.

    • initialSy

      private double initialSy
      Initial y scaling factor.

    • initialSz

      private double initialSz
      Initial z scaling factor.

    • initialMxy

      private double initialMxy
      Initial x-y cross coupling error.

    • initialMxz

      private double initialMxz
      Initial x-z cross coupling error.

    • initialMyx

      private double initialMyx
      Initial y-x cross coupling error.

    • initialMyz

      private double initialMyz
      Initial y-z cross coupling error.

    • initialMzx

      private double initialMzx
      Initial z-x cross coupling error.

    • initialMzy

      private double initialMzy
      Initial z-y cross coupling error.

    • measurements

      private Collection<StandardDeviationFrameBodyKinematics> measurements
      Contains a collections of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

    • commonAxisUsed

      private boolean commonAxisUsed
      This flag indicates whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.

    • listener

      private KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener
      Listener to handle events raised by this estimator.

    • estimatedMa

      private com.irurueta.algebra.Matrix estimatedMa
      Estimated accelerometer scale factors and cross coupling errors. This is the product of matrix Ta containing cross coupling errors and Ka containing scaling factors. So tat: 
           Ma = [sx    mxy  mxz] = Ta*Ka
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Ka = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Ta = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.

    • estimatedCovariance

      private com.irurueta.algebra.Matrix estimatedCovariance
      Estimated covariance matrix for estimated position.

    • estimatedChiSq

      private double estimatedChiSq
      Estimated chi square value.

    • estimatedMse

      private double estimatedMse
      Estimated mean square error respect to provided measurements.

    • running

      private boolean running
      Indicates whether estimator is running.

  • Constructor Details

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator()
      Constructor.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double[] bias)
      Constructor.
      Parameters:
      bias - known bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double[] bias, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double[] bias, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double[] bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      bias - known bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(double[] bias, boolean commonAxisUsed, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialMa, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialMa, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias. This must be a 3x1 matrix expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

  • Method Details

    • getBiasX

      public double getBiasX()
      Gets known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      getBiasX in interface KnownBiasAccelerometerCalibrator
      Returns:
      known x coordinate of accelerometer bias.

    • setBiasX

      public void setBiasX(double biasX) throws com.irurueta.navigation.LockedException
      Sets known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      setBiasX in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasY

      public double getBiasY()
      Gets known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      getBiasY in interface KnownBiasAccelerometerCalibrator
      Returns:
      known y coordinate of accelerometer bias.

    • setBiasY

      public void setBiasY(double biasY) throws com.irurueta.navigation.LockedException
      Sets known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      setBiasY in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasY - known y coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasZ

      public double getBiasZ()
      Gets known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      getBiasZ in interface KnownBiasAccelerometerCalibrator
      Returns:
      known z coordinate of accelerometer bias.

    • setBiasZ

      public void setBiasZ(double biasZ) throws com.irurueta.navigation.LockedException
      Sets known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      setBiasZ in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasZ - known z coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasXAsAcceleration

      public com.irurueta.units.Acceleration getBiasXAsAcceleration()
      Gets known x coordinate of accelerometer bias.
      Specified by:
      getBiasXAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Returns:
      known x coordinate of accelerometer bias.

    • getBiasXAsAcceleration

      public void getBiasXAsAcceleration(com.irurueta.units.Acceleration result)
      Gets known x coordinate of accelerometer bias.
      Specified by:
      getBiasXAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setBiasX

      public void setBiasX(com.irurueta.units.Acceleration biasX) throws com.irurueta.navigation.LockedException
      Sets known x coordinate of accelerometer bias.
      Specified by:
      setBiasX in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasYAsAcceleration

      public com.irurueta.units.Acceleration getBiasYAsAcceleration()
      Gets known y coordinate of accelerometer bias.
      Specified by:
      getBiasYAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Returns:
      known y coordinate of accelerometer bias.

    • getBiasYAsAcceleration

      public void getBiasYAsAcceleration(com.irurueta.units.Acceleration result)
      Gets known y coordinate of accelerometer bias.
      Specified by:
      getBiasYAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setBiasY

      public void setBiasY(com.irurueta.units.Acceleration biasY) throws com.irurueta.navigation.LockedException
      Sets known y coordinate of accelerometer bias.
      Specified by:
      setBiasY in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasY - known y coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasZAsAcceleration

      public com.irurueta.units.Acceleration getBiasZAsAcceleration()
      Gets known z coordinate of accelerometer bias.
      Specified by:
      getBiasZAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Returns:
      known z coordinate of accelerometer bias.

    • getBiasZAsAcceleration

      public void getBiasZAsAcceleration(com.irurueta.units.Acceleration result)
      Gets known z coordinate of accelerometer bias.
      Specified by:
      getBiasZAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setBiasZ

      public void setBiasZ(com.irurueta.units.Acceleration biasZ) throws com.irurueta.navigation.LockedException
      Sets known z coordinate of accelerometer bias.
      Specified by:
      setBiasZ in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasZ - known z coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setBiasCoordinates

      public void setBiasCoordinates(double biasX, double biasY, double biasZ) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias coordinates expressed in meters per squared second (m/s^2).
      Specified by:
      setBiasCoordinates in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setBiasCoordinates

      public void setBiasCoordinates(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias coordinates.
      Specified by:
      setBiasCoordinates in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasAsTriad

      public AccelerationTriad getBiasAsTriad()
      Gets known accelerometer bias.
      Specified by:
      getBiasAsTriad in interface KnownBiasAccelerometerCalibrator
      Returns:
      known accelerometer bias.

    • getBiasAsTriad

      public void getBiasAsTriad(AccelerationTriad result)
      Gets known accelerometer bias.
      Specified by:
      getBiasAsTriad in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setBias

      public void setBias(AccelerationTriad bias) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias.
      Specified by:
      setBias in interface KnownBiasAccelerometerCalibrator
      Parameters:
      bias - accelerometer bias to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSx

      public double getInitialSx()
      Gets initial x scaling factor.
      Specified by:
      getInitialSx in interface AccelerometerNonLinearCalibrator
      Returns:
      initial x scaling factor.

    • setInitialSx

      public void setInitialSx(double initialSx) throws com.irurueta.navigation.LockedException
      Sets initial x scaling factor.
      Specified by:
      setInitialSx in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSy

      public double getInitialSy()
      Gets initial y scaling factor.
      Specified by:
      getInitialSy in interface AccelerometerNonLinearCalibrator
      Returns:
      initial y scaling factor.

    • setInitialSy

      public void setInitialSy(double initialSy) throws com.irurueta.navigation.LockedException
      Sets initial y scaling factor.
      Specified by:
      setInitialSy in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialSy - initial y scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSz

      public double getInitialSz()
      Gets initial z scaling factor.
      Specified by:
      getInitialSz in interface AccelerometerNonLinearCalibrator
      Returns:
      initial z scaling factor.

    • setInitialSz

      public void setInitialSz(double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial z scaling factor.
      Specified by:
      setInitialSz in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialSz - initial z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxy

      public double getInitialMxy()
      Gets initial x-y cross coupling error.
      Specified by:
      getInitialMxy in interface AccelerometerNonLinearCalibrator
      Returns:
      initial x-y cross coupling error.

    • setInitialMxy

      public void setInitialMxy(double initialMxy) throws com.irurueta.navigation.LockedException
      Sets initial x-y cross coupling error.
      Specified by:
      setInitialMxy in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMxy - initial x-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxz

      public double getInitialMxz()
      Gets initial x-z cross coupling error.
      Specified by:
      getInitialMxz in interface AccelerometerNonLinearCalibrator
      Returns:
      initial x-z cross coupling error.

    • setInitialMxz

      public void setInitialMxz(double initialMxz) throws com.irurueta.navigation.LockedException
      Sets initial x-z cross coupling error.
      Specified by:
      setInitialMxz in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMxz - initial x-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyx

      public double getInitialMyx()
      Gets initial y-x cross coupling error.
      Specified by:
      getInitialMyx in interface AccelerometerNonLinearCalibrator
      Returns:
      initial y-x cross coupling error.

    • setInitialMyx

      public void setInitialMyx(double initialMyx) throws com.irurueta.navigation.LockedException
      Sets initial y-x cross coupling error.
      Specified by:
      setInitialMyx in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMyx - initial y-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyz

      public double getInitialMyz()
      Gets initial y-z cross coupling error.
      Specified by:
      getInitialMyz in interface AccelerometerNonLinearCalibrator
      Returns:
      initial y-z cross coupling error.

    • setInitialMyz

      public void setInitialMyz(double initialMyz) throws com.irurueta.navigation.LockedException
      Sets initial y-z cross coupling error.
      Specified by:
      setInitialMyz in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMyz - initial y-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzx

      public double getInitialMzx()
      Gets initial z-x cross coupling error.
      Specified by:
      getInitialMzx in interface AccelerometerNonLinearCalibrator
      Returns:
      initial z-x cross coupling error.

    • setInitialMzx

      public void setInitialMzx(double initialMzx) throws com.irurueta.navigation.LockedException
      Sets initial z-x cross coupling error.
      Specified by:
      setInitialMzx in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMzx - initial z-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzy

      public double getInitialMzy()
      Gets initial z-y cross coupling error.
      Specified by:
      getInitialMzy in interface AccelerometerNonLinearCalibrator
      Returns:
      initial z-y cross coupling error.

    • setInitialMzy

      public void setInitialMzy(double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial z-y cross coupling error.
      Specified by:
      setInitialMzy in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMzy - initial z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialScalingFactors

      public void setInitialScalingFactors(double initialSx, double initialSy, double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial scaling factors.
      Specified by:
      setInitialScalingFactors in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialCrossCouplingErrors

      public void setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial cross coupling errors.
      Specified by:
      setInitialCrossCouplingErrors in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialScalingFactorsAndCrossCouplingErrors

      public void setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial scaling factors and cross coupling errors.
      Specified by:
      setInitialScalingFactorsAndCrossCouplingErrors in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBias

      public double[] getBias()
      Gets known accelerometer bias as an array. Array values are expressed in meters per squared second (m/s^2).
      Specified by:
      getBias in interface KnownBiasAccelerometerCalibrator
      Returns:
      array containing coordinates of known bias.

    • getBias

      public void getBias(double[] result)
      Gets known accelerometer bias as an array. Array values are expressed in meters per squared second (m/s^2).
      Specified by:
      getBias in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setBias

      public void setBias(double[] bias) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias as an array. Array values are expressed in meters per squared second (m/s^2).
      Specified by:
      setBias in interface KnownBiasAccelerometerCalibrator
      Parameters:
      bias - known accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getBiasAsMatrix

      public com.irurueta.algebra.Matrix getBiasAsMatrix()
      Gets known accelerometer bias as a column matrix.
      Specified by:
      getBiasAsMatrix in interface KnownBiasAccelerometerCalibrator
      Returns:
      known accelerometer bias as a column matrix.

    • getBiasAsMatrix

      public void getBiasAsMatrix(com.irurueta.algebra.Matrix result)
      Gets known accelerometer bias as a column matrix.
      Specified by:
      getBiasAsMatrix in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • setBias

      public void setBias(com.irurueta.algebra.Matrix bias) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias as a column matrix.
      Specified by:
      setBias in interface KnownBiasAccelerometerCalibrator
      Parameters:
      bias - accelerometer bias to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running
      IllegalArgumentException - if provided matrix is not 3x1.

    • getInitialMa

      public com.irurueta.algebra.Matrix getInitialMa()
      Gets initial scale factors and cross coupling errors matrix.
      Specified by:
      getInitialMa in interface AccelerometerNonLinearCalibrator
      Returns:
      initial scale factors and cross coupling errors matrix.

    • getInitialMa

      public void getInitialMa(com.irurueta.algebra.Matrix result)
      Gets initial scale factors and cross coupling errors matrix.
      Specified by:
      getInitialMa in interface AccelerometerNonLinearCalibrator
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • setInitialMa

      public void setInitialMa(com.irurueta.algebra.Matrix initialMa) throws com.irurueta.navigation.LockedException
      Sets initial scale factors and cross coupling errors matrix.
      Specified by:
      setInitialMa in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurements

      public Collection<StandardDeviationFrameBodyKinematics> getMeasurements()
      Gets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
      Specified by:
      getMeasurements in interface KnownBiasAndFrameAccelerometerCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener>
      Specified by:
      getMeasurements in interface UnorderedStandardDeviationFrameBodyKinematicsAccelerometerCalibrator
      Returns:
      a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

    • setMeasurements

      public void setMeasurements(Collection<? extends StandardDeviationFrameBodyKinematics> measurements) throws com.irurueta.navigation.LockedException
      Sets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
      Specified by:
      setMeasurements in interface KnownBiasAndFrameAccelerometerCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener>
      Specified by:
      setMeasurements in interface UnorderedStandardDeviationFrameBodyKinematicsAccelerometerCalibrator
      Parameters:
      measurements - collection of body kinematics measurements taken at different frames (positions, orientations and velocities).
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurementType

      public AccelerometerCalibratorMeasurementType getMeasurementType()
      Indicates the type of measurement used by this calibrator.
      Specified by:
      getMeasurementType in interface AccelerometerCalibrator
      Returns:
      type of measurement used by this calibrator.

    • isOrderedMeasurementsRequired

      public boolean isOrderedMeasurementsRequired()
      Indicates whether this calibrator requires ordered measurements in a list or not.
      Specified by:
      isOrderedMeasurementsRequired in interface AccelerometerCalibrator
      Returns:
      true if measurements must be ordered, false otherwise.

    • isQualityScoresRequired

      public boolean isQualityScoresRequired()
      Indicates whether this calibrator requires quality scores for each measurement or not.
      Specified by:
      isQualityScoresRequired in interface AccelerometerCalibrator
      Returns:
      true if quality scores are required, false otherwise.

    • isCommonAxisUsed

      public boolean isCommonAxisUsed()
      Indicates whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.
      Specified by:
      isCommonAxisUsed in interface AccelerometerCalibrator
      Returns:
      true if z-axis is assumed to be common for accelerometer and gyroscope, false otherwise.

    • setCommonAxisUsed

      public void setCommonAxisUsed(boolean commonAxisUsed) throws com.irurueta.navigation.LockedException
      Specifies whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.
      Specified by:
      setCommonAxisUsed in interface AccelerometerCalibrator
      Parameters:
      commonAxisUsed - true if z-axis is assumed to be common for accelerometer and gyroscope, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getListener

      public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener getListener()
      Gets listener to handle events raised by this estimator.
      Specified by:
      getListener in interface KnownBiasAndFrameAccelerometerCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener>
      Returns:
      listener to handle events raised by this estimator.

    • setListener

      public void setListener(KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) throws com.irurueta.navigation.LockedException
      Sets listener to handle events raised by this estimator.
      Specified by:
      setListener in interface KnownBiasAndFrameAccelerometerCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener>
      Parameters:
      listener - listener to handle events raised by this estimator.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMinimumRequiredMeasurements

      public int getMinimumRequiredMeasurements()
      Gets minimum number of required measurements.
      Specified by:
      getMinimumRequiredMeasurements in interface AccelerometerCalibrator
      Returns:
      minimum number of required measurements.

    • isReady

      public boolean isReady()
      Indicates whether calibrator is ready to start.
      Specified by:
      isReady in interface AccelerometerCalibrator
      Returns:
      true if calibrator is ready, false otherwise.

    • isRunning

      public boolean isRunning()
      Indicates whether calibrator is currently running or not.
      Specified by:
      isRunning in interface AccelerometerCalibrator
      Returns:
      true if calibrator is running, false otherwise.

    • calibrate

      public void calibrate() throws com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException
      Estimates accelerometer calibration parameters containing bias, scale factors and cross-coupling errors.
      Specified by:
      calibrate in interface AccelerometerCalibrator
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      com.irurueta.navigation.NotReadyException - if calibrator is not ready.
      CalibrationException - if estimation fails for numerical reasons.

    • getEstimatedMa

      public com.irurueta.algebra.Matrix getEstimatedMa()
      Gets estimated accelerometer scale factors and ross coupling errors. This is the product of matrix Ta containing cross coupling errors and Ka containing scaling factors. So tat: 
           Ma = [sx    mxy  mxz] = Ta*Ka
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Ka = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Ta = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.
      Specified by:
      getEstimatedMa in interface AccelerometerCalibrator
      Returns:
      estimated accelerometer scale factors and cross coupling errors, or null if not available.

    • getEstimatedSx

      public Double getEstimatedSx()
      Gets estimated x-axis scale factor.
      Specified by:
      getEstimatedSx in interface AccelerometerCalibrator
      Returns:
      estimated x-axis scale factor or null if not available.

    • getEstimatedSy

      public Double getEstimatedSy()
      Gets estimated y-axis scale factor.
      Specified by:
      getEstimatedSy in interface AccelerometerCalibrator
      Returns:
      estimated y-axis scale factor or null if not available.

    • getEstimatedSz

      public Double getEstimatedSz()
      Gets estimated z-axis scale factor.
      Specified by:
      getEstimatedSz in interface AccelerometerCalibrator
      Returns:
      estimated z-axis scale factor or null if not available.

    • getEstimatedMxy

      public Double getEstimatedMxy()
      Gets estimated x-y cross-coupling error.
      Specified by:
      getEstimatedMxy in interface AccelerometerCalibrator
      Returns:
      estimated x-y cross-coupling error or null if not available.

    • getEstimatedMxz

      public Double getEstimatedMxz()
      Gets estimated x-z cross-coupling error.
      Specified by:
      getEstimatedMxz in interface AccelerometerCalibrator
      Returns:
      estimated x-z cross-coupling error or null if not available.

    • getEstimatedMyx

      public Double getEstimatedMyx()
      Gets estimated y-x cross-coupling error.
      Specified by:
      getEstimatedMyx in interface AccelerometerCalibrator
      Returns:
      estimated y-x cross-coupling error or null if not available.

    • getEstimatedMyz

      public Double getEstimatedMyz()
      Gets estimated y-z cross-coupling error.
      Specified by:
      getEstimatedMyz in interface AccelerometerCalibrator
      Returns:
      estimated y-z cross-coupling error or null if not available.

    • getEstimatedMzx

      public Double getEstimatedMzx()
      Gets estimated z-x cross-coupling error.
      Specified by:
      getEstimatedMzx in interface AccelerometerCalibrator
      Returns:
      estimated z-x cross-coupling error or null if not available.

    • getEstimatedMzy

      public Double getEstimatedMzy()
      Gets estimated z-y cross-coupling error.
      Specified by:
      getEstimatedMzy in interface AccelerometerCalibrator
      Returns:
      estimated z-y cross-coupling error or null if not available.

    • getEstimatedCovariance

      public com.irurueta.algebra.Matrix getEstimatedCovariance()
      Gets estimated covariance matrix for estimated calibration parameters. Diagonal elements of the matrix contains variance for the following parameters (following indicated order): sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy.
      Specified by:
      getEstimatedCovariance in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated covariance matrix for estimated calibration parameters.

    • getEstimatedChiSq

      public double getEstimatedChiSq()
      Gets estimated chi square value.
      Specified by:
      getEstimatedChiSq in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated chi square value.

    • getEstimatedMse

      public double getEstimatedMse()
      Gets estimated mean square error respect to provided measurements.
      Specified by:
      getEstimatedMse in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated mean square error respect to provided measurements.

    • calibrateCommonAxis

      private void calibrateCommonAxis() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException
      Internal method to perform calibration when common z-axis is assumed for both the accelerometer and gyroscope.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical errors.
      com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.
      com.irurueta.numerical.NotReadyException - if fitter is not ready.

    • calibrateGeneral

      private void calibrateGeneral() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException
      Internal method to perform general calibration.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical errors.
      com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.
      com.irurueta.numerical.NotReadyException - if fitter is not ready.

    • setInputData

      private void setInputData() throws com.irurueta.algebra.WrongSizeException
      Sets input data into Levenberg-Marquardt fitter.
      Throws:
      com.irurueta.algebra.WrongSizeException - never happens.

    • convertAcceleration

      private static double convertAcceleration(double value, com.irurueta.units.AccelerationUnit unit)
      Converts acceleration value and unit to meters per squared second.
      Parameters:
      value - acceleration value.
      unit - unit of acceleration value.
      Returns:
      converted value.

    • convertAcceleration

      private static double convertAcceleration(com.irurueta.units.Acceleration acceleration)
      Converts acceleration instance to meters per squared second.
      Parameters:
      acceleration - acceleration instance to be converted.
      Returns:
      converted value.