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

Class LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndFrameAccelerometerCalibrator

com.irurueta.navigation.inertial.calibration.accelerometer.LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

All Implemented Interfaces:

AccelerometerCalibrator, AccelerometerNonLinearCalibrator, KnownBiasAccelerometerCalibrator, OrderedStandardDeviationFrameBodyKinematicsAccelerometerCalibrator, QualityScoredAccelerometerCalibrator

public class LMedSRobustKnownBiasAndFrameAccelerometerCalibrator
extends RobustKnownBiasAndFrameAccelerometerCalibrator

Robustly estimates accelerometer cross couplings and scaling factors using a LMedS algorithm to discard outliers. This estimator assumes that biases are known.

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

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

     fmeas = ba + (I + Ma) * ftrue + w
 

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

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_STOP_THRESHOLD	Default value to be used for stop threshold.
static final double	MIN_STOP_THRESHOLD	Minimum allowed stop threshold value.
private double	stopThreshold	Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.

Fields inherited from class com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndFrameAccelerometerCalibrator

confidence, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_PRELIMINARY_SOLUTIONS, DEFAULT_REFINE_RESULT, DEFAULT_ROBUST_METHOD, DEFAULT_USE_COMMON_Z_AXIS, DEFAULT_USE_LINEAR_CALIBRATOR, inliersData, listener, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, measurements, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, MINIMUM_MEASUREMENTS, preliminarySubsetSize, progressDelta, refineResult, running

Constructor Summary

Constructors

Constructor	Description
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator()	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	calibrate()	Estimates accelerometer calibration parameters containing scale factors and cross-coupling errors.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double	getStopThreshold()	Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.
boolean	isQualityScoresRequired()	Indicates whether this calibrator requires quality scores for each measurement or not.
void	setStopThreshold(double stopThreshold)	Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.

Methods inherited from class com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndFrameAccelerometerCalibrator

attemptRefine, computeError, computePreliminarySolutions, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getBias, getBias, getBiasAsMatrix, getBiasAsMatrix, getBiasAsTriad, getBiasAsTriad, getBiasX, getBiasXAsAcceleration, getBiasXAsAcceleration, getBiasY, getBiasYAsAcceleration, getBiasYAsAcceleration, getBiasZ, getBiasZAsAcceleration, getBiasZAsAcceleration, getConfidence, getEstimatedChiSq, getEstimatedCovariance, getEstimatedMa, getEstimatedMse, getEstimatedMxy, getEstimatedMxz, getEstimatedMyx, getEstimatedMyz, getEstimatedMzx, getEstimatedMzy, getEstimatedSx, getEstimatedSy, getEstimatedSz, getInitialMa, getInitialMa, getInitialMxy, getInitialMxz, getInitialMyx, getInitialMyz, getInitialMzx, getInitialMzy, getInitialSx, getInitialSy, getInitialSz, getInliersData, getListener, getMaxIterations, getMeasurements, getMeasurementType, getMinimumRequiredMeasurements, getPreliminarySubsetSize, getProgressDelta, getQualityScores, isCommonAxisUsed, isCovarianceKept, isLinearCalibratorUsed, isOrderedMeasurementsRequired, isPreliminarySolutionRefined, isReady, isResultRefined, isRunning, setBias, setBias, setBias, setBiasCoordinates, setBiasCoordinates, setBiasX, setBiasX, setBiasY, setBiasY, setBiasZ, setBiasZ, setCommonAxisUsed, setConfidence, setCovarianceKept, setInitialCrossCouplingErrors, setInitialMa, setInitialMxy, setInitialMxz, setInitialMyx, setInitialMyz, setInitialMzx, setInitialMzy, setInitialScalingFactors, setInitialScalingFactorsAndCrossCouplingErrors, setInitialSx, setInitialSy, setInitialSz, setLinearCalibratorUsed, setListener, setMaxIterations, setMeasurements, setPreliminarySolutionRefined, setPreliminarySubsetSize, setProgressDelta, setQualityScores, setResultRefined

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_STOP_THRESHOLD

public static final double DEFAULT_STOP_THRESHOLD

Default value to be used for stop threshold. Stop threshold can be used to avoid keeping the algorithm unnecessarily iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

See Also:

• Constant Field Values

MIN_STOP_THRESHOLD

public static final double MIN_STOP_THRESHOLD

Minimum allowed stop threshold value.

See Also:

• Constant Field Values

stopThreshold

private double stopThreshold

Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Constructor Details

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator()

Constructor.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(boolean commonAxisUsed,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener 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.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX,
 double biasY,
 double biasZ)

Constructor.

Parameters:

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

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

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

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX,
 double biasY,
 double biasZ,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

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

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

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

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double biasX,
 double biasY,
 double biasZ)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

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

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

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

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double biasX,
 double biasY,
 double biasZ,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

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

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

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

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX,
 double biasY,
 double biasZ,
 boolean commonAxisUsed)

Constructor.

Parameters:

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

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

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

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX,
 double biasY,
 double biasZ,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

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

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

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

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double biasX,
 double biasY,
 double biasZ,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

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

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

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

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double biasX,
 double biasY,
 double biasZ,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

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

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

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

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX,
 com.irurueta.units.Acceleration biasY,
 com.irurueta.units.Acceleration biasZ)

Constructor.

Parameters:

biasX - known x coordinate of accelerometer bias.

biasY - known y coordinate of accelerometer bias.

biasZ - known z coordinate of accelerometer bias.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX,
 com.irurueta.units.Acceleration biasY,
 com.irurueta.units.Acceleration biasZ,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

biasX - known x coordinate of accelerometer bias.

biasY - known y coordinate of accelerometer bias.

biasZ - known z coordinate of accelerometer bias.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.units.Acceleration biasX,
 com.irurueta.units.Acceleration biasY,
 com.irurueta.units.Acceleration biasZ)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

biasX - known x coordinate of accelerometer bias.

biasY - known y coordinate of accelerometer bias.

biasZ - known z coordinate of accelerometer bias.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.units.Acceleration biasX,
 com.irurueta.units.Acceleration biasY,
 com.irurueta.units.Acceleration biasZ,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

biasX - known x coordinate of accelerometer bias.

biasY - known y coordinate of accelerometer bias.

biasZ - known z coordinate of accelerometer bias.

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX,
 com.irurueta.units.Acceleration biasY,
 com.irurueta.units.Acceleration biasZ,
 boolean commonAxisUsed)

Constructor.

Parameters:

biasX - known x coordinate of accelerometer bias.

biasY - known y coordinate of accelerometer bias.

biasZ - known z coordinate of accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX,
 com.irurueta.units.Acceleration biasY,
 com.irurueta.units.Acceleration biasZ,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

biasX - known x coordinate of accelerometer bias.

biasY - known y coordinate of accelerometer bias.

biasZ - known z coordinate of accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.units.Acceleration biasX,
 com.irurueta.units.Acceleration biasY,
 com.irurueta.units.Acceleration biasZ,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

biasX - known x coordinate of accelerometer bias.

biasY - known y coordinate of accelerometer bias.

biasZ - known z coordinate of accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.units.Acceleration biasX,
 com.irurueta.units.Acceleration biasY,
 com.irurueta.units.Acceleration biasZ,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

biasX - known x coordinate of accelerometer bias.

biasY - known y coordinate of accelerometer bias.

biasZ - known z coordinate of accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias)

Constructor.

Parameters:

bias - known accelerometer bias.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

bias - known accelerometer bias.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double[] bias)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known accelerometer bias.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double[] bias,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known accelerometer bias.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias,
 boolean commonAxisUsed)

Constructor.

Parameters:

bias - known accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

bias - known accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double[] bias,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double[] bias,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias)

Constructor.

Parameters:

bias - known accelerometer bias.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

bias - known accelerometer bias.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known accelerometer bias.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known accelerometer bias.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias,
 boolean commonAxisUsed)

Constructor.

Parameters:

bias - known accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

bias - known accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameAccelerometerCalibrator

public LMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known accelerometer bias.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

Method Details

getStopThreshold

public double getStopThreshold()

Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Returns:

stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

setStopThreshold

public void setStopThreshold(double stopThreshold)
                      throws com.irurueta.navigation.LockedException

Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Parameters:

stopThreshold - stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

Throws:

IllegalArgumentException - if provided value is zero or negative.

com.irurueta.navigation.LockedException - if calibrator is currently running.

calibrate

public void calibrate()
               throws com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Estimates accelerometer calibration parameters containing scale factors and cross-coupling errors.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

com.irurueta.navigation.NotReadyException - if calibrator is not ready.

CalibrationException - if estimation fails for numerical reasons.

getMethod

public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()

Returns method being used for robust estimation.

Specified by:

getMethod in class RobustKnownBiasAndFrameAccelerometerCalibrator

Returns:

method being used for robust estimation.

isQualityScoresRequired

public boolean isQualityScoresRequired()

Indicates whether this calibrator requires quality scores for each measurement or not.

Returns:

true if quality scores are required, false otherwise.