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

Class KnownBiasAndPositionAccelerometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.BaseBiasGravityNormAccelerometerCalibrator<KnownBiasAndPositionAccelerometerCalibrator,KnownBiasAndPositionAccelerometerCalibrationListener>
com.irurueta.navigation.inertial.calibration.accelerometer.KnownBiasAndPositionAccelerometerCalibrator
All Implemented Interfaces:
AccelerometerCalibrator, AccelerometerNonLinearCalibrator, KnownBiasAccelerometerCalibrator, UnorderedStandardDeviationBodyKinematicsAccelerometerCalibrator
public class KnownBiasAndPositionAccelerometerCalibrator extends BaseBiasGravityNormAccelerometerCalibrator<KnownBiasAndPositionAccelerometerCalibrator,KnownBiasAndPositionAccelerometerCalibrationListener>
Estimates accelerometer cross couplings and scaling factors when accelerometer biases are known. This calibrator uses Levenberg-Marquardt to find a minimum least squared error solution.

To use this calibrator at least 7 measurements taken at a single known position must be taken at 7 different unknown orientations and zero velocity when common z-axis is assumed, otherwise at least 10 measurements are required.

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, which is known. This is a 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-truth specific force. - w is measurement noise.

  • Field Details

    • position

      private com.irurueta.navigation.frames.ECEFPosition position
      Position where body kinematics measures have been taken.

  • Constructor Details

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator()
      Constructor.

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(boolean commonAxisUsed, KnownBiasAndPositionAccelerometerCalibrationListener 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, 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 the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(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 - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, 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 the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(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 - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

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

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, 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 the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(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 - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(boolean commonAxisUsed, 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:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(boolean commonAxisUsed, 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, 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 the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(double[] bias)
      Constructor.
      Parameters:
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(boolean commonAxisUsed, double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double biasX, double biasY, double biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, 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:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> 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:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, 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:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, 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:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, 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:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> 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:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, 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:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, 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:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double[] bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, double biasX, double biasY, double biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, 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:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> 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:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, 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:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, 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:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is 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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, 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:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> 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:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, 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:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, 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:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, 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, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, double[] bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer 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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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.

    • KnownBiasAndPositionAccelerometerCalibrator

      public KnownBiasAndPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndPositionAccelerometerCalibrationListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      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

    • getEcefPosition

      public com.irurueta.navigation.frames.ECEFPosition getEcefPosition()
      Gets position where body kinematics measures have been taken expressed in ECEF coordinates.
      Returns:
      position where body kinematics measures have been taken.

    • setPosition

      public void setPosition(com.irurueta.navigation.frames.ECEFPosition position) throws com.irurueta.navigation.LockedException
      Gets position where body kinematics measures have been taken expressed in ECEF coordinates.
      Parameters:
      position - position where body kinematics measures have been taken.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getNedPosition

      public com.irurueta.navigation.frames.NEDPosition getNedPosition()
      Gets position where body kinematics measures have been taken expressed in NED coordinates.
      Returns:
      position where body kinematics measures have been taken or null if not available.

    • getNedPosition

      public boolean getNedPosition(com.irurueta.navigation.frames.NEDPosition result)
      Gets position where body kinematics measures have been taken expressed in NED coordinates.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if NED position could be computed, false otherwise.

    • setPosition

      public void setPosition(com.irurueta.navigation.frames.NEDPosition position) throws com.irurueta.navigation.LockedException
      Sets position where body kinematics measures have been taken expressed in NED coordinates.
      Parameters:
      position - position where body kinematics measures have been taken.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isReady

      public boolean isReady()
      Indicates whether calibrator is ready to start.
      Specified by:
      isReady in interface AccelerometerCalibrator
      Overrides:
      isReady in class BaseBiasGravityNormAccelerometerCalibrator<KnownBiasAndPositionAccelerometerCalibrator,KnownBiasAndPositionAccelerometerCalibrationListener>
      Returns:
      true if calibrator is ready, false otherwise.

    • convertPosition

      private static com.irurueta.navigation.frames.ECEFPosition convertPosition(com.irurueta.navigation.frames.NEDPosition position)
      Converts provided NED position expressed in terms of latitude, longitude and height respect mean Earth surface, to position expressed in ECEF coordinates.
      Parameters:
      position - NED position to be converted.
      Returns:
      converted position expressed in ECEF coordinates.