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

Class KnownPositionAccelerometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.BaseGravityNormAccelerometerCalibrator<KnownPositionAccelerometerCalibrator,KnownPositionAccelerometerCalibratorListener>
com.irurueta.navigation.inertial.calibration.accelerometer.KnownPositionAccelerometerCalibrator
All Implemented Interfaces:
AccelerometerCalibrator, AccelerometerNonLinearCalibrator, UnknownBiasAccelerometerCalibrator, UnknownBiasNonLinearAccelerometerCalibrator, UnorderedStandardDeviationBodyKinematicsAccelerometerCalibrator, AccelerometerBiasUncertaintySource, AccelerometerCalibrationSource
public class KnownPositionAccelerometerCalibrator extends BaseGravityNormAccelerometerCalibrator<KnownPositionAccelerometerCalibrator,KnownPositionAccelerometerCalibratorListener>
Estimates accelerometer biases, cross couplings and scaling factors. This calibrator uses Levenberg-Marquardt to find a minimum least squared error solution.

To use this calibrator at least 10 measurements taken at a single known position must be taken at 10 different unknown orientations and zero velocity when common z-axis is assumed, otherwise at least 13 measurements are required.

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

     fmeas = ba + (I + Ma) * ftrue + w
Where: - fmeas is the measured specific force. This is a 3x1 vector. - ba is accelerometer bias. 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

    • position

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

  • Constructor Details

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator()
      Constructor.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(boolean commonAxisUsed, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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).

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(double initialBiasX, double initialBiasY, double initialBiasZ, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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).

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(double[] initialBias, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(boolean commonAxisUsed, double[] initialBias, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.algebra.Matrix initialBias, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownPositionAccelerometerCalibratorListener 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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> 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 the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double initialBiasX, double initialBiasY, double initialBiasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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).

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double initialBiasX, double initialBiasY, double initialBiasZ, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, 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:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, 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:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, 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:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, 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:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, 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:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double[] initialBias, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.algebra.Matrix initialBias, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.ECEFPosition position, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, double initialBiasX, double initialBiasY, double initialBiasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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).

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, double initialBiasX, double initialBiasY, double initialBiasZ, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, 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:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, 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:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, 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:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, 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:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, 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:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, double[] initialBias, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.algebra.Matrix initialBias, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

      public KnownPositionAccelerometerCalibrator(com.irurueta.navigation.frames.NEDPosition position, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownPositionAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      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.

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • KnownPositionAccelerometerCalibrator

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

    • getEcefPosition

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

    • setPosition

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

    • getNedPosition

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

    • getNedPosition

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

    • setPosition

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

    • isReady

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

    • convertPosition

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