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

Class LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndGravityNormAccelerometerCalibrator

com.irurueta.navigation.inertial.calibration.accelerometer.LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

All Implemented Interfaces:

AccelerometerCalibrator, AccelerometerNonLinearCalibrator, KnownBiasAccelerometerCalibrator, OrderedStandardDeviationBodyKinematicsAccelerometerCalibrator, QualityScoredAccelerometerCalibrator

public class LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator
extends RobustKnownBiasAndGravityNormAccelerometerCalibrator

Robustly estimates accelerometer cross couplings and scaling factors using a LMedS algorithm to discard outliers.

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

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

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

Where: - fmeas is the measured specific force. This is a 3x1 vector. - ba is accelerometer bias. 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.

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndGravityNormAccelerometerCalibrator

RobustKnownBiasAndGravityNormAccelerometerCalibrator.PreliminaryResult

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.RobustKnownBiasAndGravityNormAccelerometerCalibrator

confidence, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_RESULT, DEFAULT_ROBUST_METHOD, DEFAULT_USE_COMMON_Z_AXIS, groundTruthGravityNorm, identity, inliersData, listener, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, measurements, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, MINIMUM_MEASUREMENTS_COMMON_Z_AXIS, MINIMUM_MEASUREMENTS_GENERAL, preliminarySubsetSize, progressDelta, refineResult, running, tmp1, tmp2, tmp3, tmp4

Constructor Summary

Constructors

Constructor	Description
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator()	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] bias)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] bias)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] bias)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(List<StandardDeviationBodyKinematics> measurements)	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.RobustKnownBiasAndGravityNormAccelerometerCalibrator

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, 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, getGroundTruthGravityNorm, getGroundTruthGravityNormAsAcceleration, getGroundTruthGravityNormAsAcceleration, getInitialMa, getInitialMa, getInitialMxy, getInitialMxz, getInitialMyx, getInitialMyz, getInitialMzx, getInitialMzy, getInitialSx, getInitialSy, getInitialSz, getInliersData, getListener, getMaxIterations, getMeasurements, getMeasurementType, getMinimumRequiredMeasurements, getPreliminarySubsetSize, getProgressDelta, getQualityScores, isCommonAxisUsed, isCovarianceKept, isOrderedMeasurementsRequired, isReady, isResultRefined, isRunning, setBias, setBias, setBias, setBiasCoordinates, setBiasCoordinates, setBiasX, setBiasX, setBiasY, setBiasY, setBiasZ, setBiasZ, setCommonAxisUsed, setConfidence, setCovarianceKept, setGroundTruthGravityNorm, setGroundTruthGravityNorm, setInitialCrossCouplingErrors, setInitialMa, setInitialMxy, setInitialMxz, setInitialMyx, setInitialMyz, setInitialMzx, setInitialMzy, setInitialScalingFactors, setInitialScalingFactorsAndCrossCouplingErrors, setInitialSx, setInitialSy, setInitialSz, setListener, setMaxIterations, setMeasurements, 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 LMedS, and yet the algorithm could still produce even smaller thresholds in estimated results.

Constructor Details

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator()

Constructor.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

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

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(List<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.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

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

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] bias)

Constructor.

Parameters:

bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

Throws:

IllegalArgumentException - if provided bias array does not have length 3.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

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

Constructor.

Parameters:

bias - known accelerometer bias.

Throws:

IllegalArgumentException - if provided bias matrix is not 3x1.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMa)

Constructor.

Parameters:

bias - known accelerometer bias.

initialMa - initial scale factors and cross coupling errors matrix.

Throws:

IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

Throws:

IllegalArgumentException - if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

Throws:

IllegalArgumentException - if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

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

Throws:

IllegalArgumentException - if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

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

Throws:

IllegalArgumentException - if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

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

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

Throws:

IllegalArgumentException - if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

Throws:

IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 double[] bias)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

Throws:

IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 double[] bias,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias.

Throws:

IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix bias)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias.

Throws:

IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix bias,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMa)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias.

initialMa - initial scale factors and cross coupling errors matrix.

Throws:

IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMa,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias.

initialMa - initial scale factors and cross coupling errors matrix.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMa)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias.

initialMa - initial scale factors and cross coupling errors matrix.

Throws:

IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMa,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias.

initialMa - initial scale factors and cross coupling errors matrix.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

Throws:

IllegalArgumentException - if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

Throws:

IllegalArgumentException - if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

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

Throws:

IllegalArgumentException - if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

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

Throws:

IllegalArgumentException - if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

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

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

Throws:

IllegalArgumentException - if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

Throws:

IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 double[] bias)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

Throws:

IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 double[] bias,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias.

Throws:

IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix bias)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias.

Throws:

IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix bias,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMa)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias.

initialMa - initial scale factors and cross coupling errors matrix.

Throws:

IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMa,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known accelerometer bias.

initialMa - initial scale factors and cross coupling errors matrix.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMa)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias.

initialMa - initial scale factors and cross coupling errors matrix.

Throws:

IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

public LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMa,
 RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)

Constructor.

Parameters:

groundTruthGravityNorm - ground truth gravity norm.

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

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

bias - known accelerometer bias.

initialMa - initial scale factors and cross coupling errors matrix.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

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 RobustKnownBiasAndGravityNormAccelerometerCalibrator

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.