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

Class KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.KnownFrameAccelerometerNonLinearLeastSquaresCalibrator
All Implemented Interfaces:
AccelerometerCalibrator, AccelerometerNonLinearCalibrator, KnownFrameAccelerometerCalibrator<StandardDeviationFrameBodyKinematics,KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener>, UnknownBiasAccelerometerCalibrator, UnknownBiasNonLinearAccelerometerCalibrator, UnorderedStandardDeviationFrameBodyKinematicsAccelerometerCalibrator, AccelerometerBiasUncertaintySource, AccelerometerCalibrationSource
public class KnownFrameAccelerometerNonLinearLeastSquaresCalibrator extends Object implements KnownFrameAccelerometerCalibrator<StandardDeviationFrameBodyKinematics,KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener>, AccelerometerNonLinearCalibrator, UnknownBiasNonLinearAccelerometerCalibrator, AccelerometerCalibrationSource, AccelerometerBiasUncertaintySource, UnorderedStandardDeviationFrameBodyKinematicsAccelerometerCalibrator
Estimates accelerometer biases, cross couplings and scaling factors.

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

To use this calibrator at least 4 measurements at different known frames must be provided. In other words, accelerometer samples must be obtained at 4 different positions, orientations and velocities (although typically velocities are always zero).

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. Ideally, on a perfect accelerometer, this should be a 3x1 zero 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

    • DEFAULT_USE_COMMON_Z_AXIS

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

    • MINIMUM_MEASUREMENTS

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

    • COMMON_Z_AXIS_UNKNOWNS

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

    • GENERAL_UNKNOWNS

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

    • fitter

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

    • initialBiasX

      private double initialBiasX
      Initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • initialBiasY

      private double initialBiasY
      Initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • initialBiasZ

      private double initialBiasZ
      Initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • initialSx

      private double initialSx
      Initial x scaling factor.

    • initialSy

      private double initialSy
      Initial y scaling factor.

    • initialSz

      private double initialSz
      Initial z scaling factor.

    • initialMxy

      private double initialMxy
      Initial x-y cross coupling error.

    • initialMxz

      private double initialMxz
      Initial x-z cross coupling error.

    • initialMyx

      private double initialMyx
      Initial y-x cross coupling error.

    • initialMyz

      private double initialMyz
      Initial y-z cross coupling error.

    • initialMzx

      private double initialMzx
      Initial z-x cross coupling error.

    • initialMzy

      private double initialMzy
      Initial z-y cross coupling error.

    • measurements

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

    • commonAxisUsed

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

    • listener

      private KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener
      Listener to handle events raised by this calibrator.

    • estimatedBiases

      private double[] estimatedBiases
      Estimated accelerometer biases for each IMU axis expressed in meter per squared second (m/s^2).

    • estimatedMa

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

    • estimatedCovariance

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

    • estimatedChiSq

      private double estimatedChiSq
      Estimated chi square value.

    • estimatedMse

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

    • running

      private boolean running
      Indicates whether calibrator is running.

  • Constructor Details

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator()
      Constructor.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

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

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

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

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

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

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

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

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

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

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

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

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(double initialBiasX, double initialBiasY, double initialBiasZ)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(double initialBiasX, double initialBiasY, double initialBiasZ, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

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

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

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

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(double[] initialBias)
      Constructor.
      Parameters:
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(double[] initialBias, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double[] initialBias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double[] initialBias, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double[] initialBias)
      Constructor
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double[] initialBias, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix initialBias, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

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

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

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

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      initialBias - initial bias to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      initialBias - initial bias to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBias - initial bias to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      initialBias - initial bias to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      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.

    • KnownFrameAccelerometerNonLinearLeastSquaresCalibrator

      public KnownFrameAccelerometerNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      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

    • getInitialBiasX

      public double getInitialBiasX()
      Gets initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getInitialBiasX in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial x-coordinate of accelerometer bias.

    • setInitialBiasX

      public void setInitialBiasX(double initialBiasX) throws com.irurueta.navigation.LockedException
      Sets initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setInitialBiasX in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasY

      public double getInitialBiasY()
      Gets initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getInitialBiasY in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial y-coordinate of accelerometer bias.

    • setInitialBiasY

      public void setInitialBiasY(double initialBiasY) throws com.irurueta.navigation.LockedException
      Sets initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setInitialBiasY in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasY - initial y-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasZ

      public double getInitialBiasZ()
      Gets initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getInitialBiasZ in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial z-coordinate of accelerometer bias.

    • setInitialBiasZ

      public void setInitialBiasZ(double initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setInitialBiasZ in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasZ - initial z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasXAsAcceleration

      public com.irurueta.units.Acceleration getInitialBiasXAsAcceleration()
      Gets initial x-coordinate of accelerometer bias to be used to find a solution.
      Specified by:
      getInitialBiasXAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial x-coordinate of accelerometer bias.

    • getInitialBiasXAsAcceleration

      public void getInitialBiasXAsAcceleration(com.irurueta.units.Acceleration result)
      Gets initial x-coordinate of accelerometer bias to be used to find a solution.
      Specified by:
      getInitialBiasXAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setInitialBiasX

      public void setInitialBiasX(com.irurueta.units.Acceleration initialBiasX) throws com.irurueta.navigation.LockedException
      Sets initial x-coordinate of accelerometer bias to be used to find a solution.
      Specified by:
      setInitialBiasX in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasYAsAcceleration

      public com.irurueta.units.Acceleration getInitialBiasYAsAcceleration()
      Gets initial y-coordinate of accelerometer bias to be used to find a solution.
      Specified by:
      getInitialBiasYAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial y-coordinate of accelerometer bias.

    • getInitialBiasYAsAcceleration

      public void getInitialBiasYAsAcceleration(com.irurueta.units.Acceleration result)
      Gets initial y-coordinate of accelerometer bias to be used to find a solution.
      Specified by:
      getInitialBiasYAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setInitialBiasY

      public void setInitialBiasY(com.irurueta.units.Acceleration initialBiasY) throws com.irurueta.navigation.LockedException
      Sets initial y-coordinate of accelerometer bias to be used to find a solution.
      Specified by:
      setInitialBiasY in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasY - initial y-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasZAsAcceleration

      public com.irurueta.units.Acceleration getInitialBiasZAsAcceleration()
      Gets initial z-coordinate of accelerometer bias to be used to find a solution.
      Specified by:
      getInitialBiasZAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial z-coordinate of accelerometer bias.

    • getInitialBiasZAsAcceleration

      public void getInitialBiasZAsAcceleration(com.irurueta.units.Acceleration result)
      Gets initial z-coordinate of accelerometer bias to be used to find a solution.
      Specified by:
      getInitialBiasZAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setInitialBiasZ

      public void setInitialBiasZ(com.irurueta.units.Acceleration initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial z-coordinate of accelerometer bias to be used to find a solution.
      Specified by:
      setInitialBiasZ in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasZ - initial z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialBias

      public void setInitialBias(double initialBiasX, double initialBiasY, double initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial bias coordinates of accelerometer used to find a solution expressed in meters per squared second (m/s^2).
      Specified by:
      setInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias.
      initialBiasY - initial y-coordinate of accelerometer bias.
      initialBiasZ - initial z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialBias

      public void setInitialBias(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial bias coordinates of accelerometer used to find a solution.
      Specified by:
      setInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias.
      initialBiasY - initial y-coordinate of accelerometer bias.
      initialBiasZ - initial z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasAsTriad

      public AccelerationTriad getInitialBiasAsTriad()
      Gets initial bias coordinates of accelerometer used to find a solution.
      Specified by:
      getInitialBiasAsTriad in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial bias coordinates.

    • getInitialBiasAsTriad

      public void getInitialBiasAsTriad(AccelerationTriad result)
      Gets initial bias coordinates of accelerometer used to find a solution.
      Specified by:
      getInitialBiasAsTriad in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setInitialBias

      public void setInitialBias(AccelerationTriad initialBias) throws com.irurueta.navigation.LockedException
      Sets initial bias coordinates of accelerometer used to find a solution.
      Specified by:
      setInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBias - initial bias coordinates to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSx

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

    • setInitialSx

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

    • getInitialSy

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

    • setInitialSy

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

    • getInitialSz

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

    • setInitialSz

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

    • getInitialMxy

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

    • setInitialMxy

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

    • getInitialMxz

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

    • setInitialMxz

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

    • getInitialMyx

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

    • setInitialMyx

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

    • getInitialMyz

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

    • setInitialMyz

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

    • getInitialMzx

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

    • setInitialMzx

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

    • getInitialMzy

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

    • setInitialMzy

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

    • setInitialScalingFactors

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

    • setInitialCrossCouplingErrors

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

    • setInitialScalingFactorsAndCrossCouplingErrors

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

    • getInitialBias

      public double[] getInitialBias()
      Gets initial bias to be used to find a solution as an array. Array values are expressed in meters per squared second (m/s^2).
      Specified by:
      getInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      array containing coordinates of initial bias.

    • getInitialBias

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

    • setInitialBias

      public void setInitialBias(double[] initialBias) throws com.irurueta.navigation.LockedException
      Sets initial bias to be used to find a solution as an array. Array values are expressed in meters per squared second (m/s^2).
      Specified by:
      setInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBias - initial bias to find a solution.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getInitialBiasAsMatrix

      public com.irurueta.algebra.Matrix getInitialBiasAsMatrix()
      Gets initial bias to be used to find a solution as a column matrix. Values are expressed in meters per squared second (m/s^2).
      Specified by:
      getInitialBiasAsMatrix in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial bias to be used to find a solution as a column matrix.

    • getInitialBiasAsMatrix

      public void getInitialBiasAsMatrix(com.irurueta.algebra.Matrix result)
      Gets initial bias to be used to find a solution as a column matrix. Values are expressed in meters per squared second (m/s^2).
      Specified by:
      getInitialBiasAsMatrix in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • setInitialBias

      public void setInitialBias(com.irurueta.algebra.Matrix initialBias) throws com.irurueta.navigation.LockedException
      Sets initial bias to be used to find a solution as a column matrix with values expressed in meters per squared second (m/s^2).
      Specified by:
      setInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBias - initial bias to find a solution.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x1.

    • getInitialMa

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

    • getInitialMa

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

    • setInitialMa

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

    • getMeasurements

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

    • setMeasurements

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

    • getMeasurementType

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

    • isOrderedMeasurementsRequired

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

    • isQualityScoresRequired

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

    • isCommonAxisUsed

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

    • setCommonAxisUsed

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

    • getListener

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

    • setListener

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

    • getMinimumRequiredMeasurements

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

    • isReady

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

    • isRunning

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

    • calibrate

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

    • getEstimatedBiases

      public double[] getEstimatedBiases()
      Gets array containing x,y,z components of estimated accelerometer biases expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiases in interface AccelerometerCalibrationSource
      Specified by:
      getEstimatedBiases in interface UnknownBiasAccelerometerCalibrator
      Returns:
      array containing x,y,z components of estimated accelerometer biases.

    • getEstimatedBiases

      public boolean getEstimatedBiases(double[] result)
      Gets array containing x,y,z components of estimated accelerometer biases expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiases in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where estimated accelerometer biases will be stored.
      Returns:
      true if result instance was updated, false otherwise (when estimation is not yet available).

    • getEstimatedBiasesAsMatrix

      public com.irurueta.algebra.Matrix getEstimatedBiasesAsMatrix()
      Gets column matrix containing x,y,z components of estimated accelerometer biases expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiasesAsMatrix in interface UnknownBiasAccelerometerCalibrator
      Returns:
      column matrix containing x,y,z components of estimated accelerometer biases.

    • getEstimatedBiasesAsMatrix

      public boolean getEstimatedBiasesAsMatrix(com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.WrongSizeException
      Gets column matrix containing x,y,z components of estimated accelerometer biases expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiasesAsMatrix in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.
      Returns:
      true if result was updated, false otherwise.
      Throws:
      com.irurueta.algebra.WrongSizeException - if provided result instance has invalid size.

    • getEstimatedBiasFx

      public Double getEstimatedBiasFx()
      Gets x coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiasFx in interface UnknownBiasAccelerometerCalibrator
      Returns:
      x coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFy

      public Double getEstimatedBiasFy()
      Gets y coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiasFy in interface UnknownBiasAccelerometerCalibrator
      Returns:
      y coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFz

      public Double getEstimatedBiasFz()
      Gets z coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiasFz in interface UnknownBiasAccelerometerCalibrator
      Returns:
      z coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFxAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFxAsAcceleration()
      Gets x coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFxAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Returns:
      x coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFxAsAcceleration

      public boolean getEstimatedBiasFxAsAcceleration(com.irurueta.units.Acceleration result)
      Gets x coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFxAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasFyAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFyAsAcceleration()
      Gets y coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFyAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Returns:
      y coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFyAsAcceleration

      public boolean getEstimatedBiasFyAsAcceleration(com.irurueta.units.Acceleration result)
      Gets y coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFyAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasFzAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFzAsAcceleration()
      Gets z coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFzAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Returns:
      z coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFzAsAcceleration

      public boolean getEstimatedBiasFzAsAcceleration(com.irurueta.units.Acceleration result)
      Gets z coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFzAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasAsTriad

      public AccelerationTriad getEstimatedBiasAsTriad()
      Gets estimated accelerometer bias.
      Specified by:
      getEstimatedBiasAsTriad in interface UnknownBiasAccelerometerCalibrator
      Returns:
      estimated accelerometer bias or null if not available.

    • getEstimatedBiasAsTriad

      public boolean getEstimatedBiasAsTriad(AccelerationTriad result)
      Gets estimated accelerometer bias.
      Specified by:
      getEstimatedBiasAsTriad in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if estimated accelerometer bias is available and result was modified, false otherwise.

    • getEstimatedMa

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

    • getEstimatedSx

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

    • getEstimatedSy

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

    • getEstimatedSz

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

    • getEstimatedMxy

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

    • getEstimatedMxz

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

    • getEstimatedMyx

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

    • getEstimatedMyz

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

    • getEstimatedMzx

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

    • getEstimatedMzy

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

    • getEstimatedCovariance

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

    • getEstimatedChiSq

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

    • getEstimatedMse

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

    • getEstimatedBiasFxVariance

      public Double getEstimatedBiasFxVariance()
      Gets variance of estimated x coordinate of accelerometer bias expressed in (m^2/s^4).
      Returns:
      variance of estimated x coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFxStandardDeviation

      public Double getEstimatedBiasFxStandardDeviation()
      Gets standard deviation of estimated x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Returns:
      standard deviation of estimated x coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFxStandardDeviationAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFxStandardDeviationAsAcceleration()
      Gets standard deviation of estimated x coordinate of accelerometer bias.
      Returns:
      standard deviation of estimated x coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFxStandardDeviationAsAcceleration

      public boolean getEstimatedBiasFxStandardDeviationAsAcceleration(com.irurueta.units.Acceleration result)
      Gets standard deviation of estimated x coordinate of accelerometer bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated x coordinate of accelerometer bias is available, false otherwise.

    • getEstimatedBiasFyVariance

      public Double getEstimatedBiasFyVariance()
      Gets variance of estimated y coordinate of accelerometer bias expressed in (m^2/s^4).
      Returns:
      variance of estimated y coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFyStandardDeviation

      public Double getEstimatedBiasFyStandardDeviation()
      Gets standard deviation of estimated y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Returns:
      standard deviation of estimated y coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFyStandardDeviationAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFyStandardDeviationAsAcceleration()
      Gets standard deviation of estimated y coordinate of accelerometer bias.
      Returns:
      standard deviation of estimated y coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFyStandardDeviationAsAcceleration

      public boolean getEstimatedBiasFyStandardDeviationAsAcceleration(com.irurueta.units.Acceleration result)
      Gets standard deviation of estimated y coordinate of accelerometer bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated y coordinate of accelerometer bias is available, false otherwise.

    • getEstimatedBiasFzVariance

      public Double getEstimatedBiasFzVariance()
      Gets variance of estimated z coordinate of accelerometer bias expressed in (m^2/s^4).
      Returns:
      variance of estimated z coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFzStandardDeviation

      public Double getEstimatedBiasFzStandardDeviation()
      Gets standard deviation of estimated z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Returns:
      standard deviation of estimated z coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFzStandardDeviationAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFzStandardDeviationAsAcceleration()
      Gets standard deviation of estimated z coordinate of accelerometer bias.
      Returns:
      standard deviation of estimated z coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFzStandardDeviationAsAcceleration

      public boolean getEstimatedBiasFzStandardDeviationAsAcceleration(com.irurueta.units.Acceleration result)
      Gets standard deviation of estimated z coordinate of accelerometer bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated z coordinate of accelerometer bias is available, false otherwise.

    • getEstimatedBiasStandardDeviation

      public AccelerationTriad getEstimatedBiasStandardDeviation()
      Gets standard deviation of estimated accelerometer bias coordinates.
      Returns:
      standard deviation of estimated accelerometer bias coordinates.

    • getEstimatedBiasStandardDeviation

      public boolean getEstimatedBiasStandardDeviation(AccelerationTriad result)
      Gets standard deviation of estimated accelerometer bias coordinates.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of accelerometer bias was available, false otherwise.

    • getEstimatedBiasStandardDeviationAverage

      public Double getEstimatedBiasStandardDeviationAverage()
      Gets average of estimated standard deviation of accelerometer bias coordinates expressed in meters per squared second (m/s^2).
      Returns:
      average of estimated standard deviation of accelerometer bias coordinates or null if not available.

    • getEstimatedBiasStandardDeviationAverageAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasStandardDeviationAverageAsAcceleration()
      Gets average of estimated standard deviation of accelerometer bias coordinates.
      Returns:
      average of estimated standard deviation of accelerometer bias coordinates or null.

    • getEstimatedBiasStandardDeviationAverageAsAcceleration

      public boolean getEstimatedBiasStandardDeviationAverageAsAcceleration(com.irurueta.units.Acceleration result)
      Gets average of estimated standard deviation of accelerometer bias coordinates.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if average of estimated standard deviation of accelerometer bias is available, false otherwise.

    • getEstimatedBiasStandardDeviationNorm

      public Double getEstimatedBiasStandardDeviationNorm()
      Gets norm of estimated standard deviation of accelerometer bias expressed in meters per squared second (m/s^2). This can be used as the initial accelerometer bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.
      Specified by:
      getEstimatedBiasStandardDeviationNorm in interface AccelerometerBiasUncertaintySource
      Returns:
      norm of estimated standard deviation of accelerometer bias or null if not available.

    • getEstimatedBiasStandardDeviationNormAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasStandardDeviationNormAsAcceleration()
      Gets norm of estimated standard deviation of accelerometer bias. This can be used as the initial accelerometer bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.
      Returns:
      norm of estimated standard deviation of accelerometer bias or null if not available.

    • getEstimatedBiasStandardDeviationNormAsAcceleration

      public boolean getEstimatedBiasStandardDeviationNormAsAcceleration(com.irurueta.units.Acceleration result)
      Gets norm of estimated standard deviation of accelerometer bias coordinates. This can be used as the initial accelerometer bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if norm of estimated standard deviation of accelerometer bias is available, false otherwise.

    • calibrateCommonAxis

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

    • calibrateGeneral

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

    • setInputData

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

    • convertAcceleration

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

    • convertAcceleration

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