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

Class MSACRobustKnownBiasAndFrameAccelerometerCalibrator

java.lang.Object

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

com.irurueta.navigation.inertial.calibration.accelerometer.MSACRobustKnownBiasAndFrameAccelerometerCalibrator

All Implemented Interfaces:

AccelerometerCalibrator, AccelerometerNonLinearCalibrator, KnownBiasAccelerometerCalibrator, OrderedStandardDeviationFrameBodyKinematicsAccelerometerCalibrator, QualityScoredAccelerometerCalibrator

public class MSACRobustKnownBiasAndFrameAccelerometerCalibrator
extends RobustKnownBiasAndFrameAccelerometerCalibrator

Robustly estimates accelerometer cross couplings and scaling factors using a MSAC 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_THRESHOLD	Constant defining default threshold to determine whether samples are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double	threshold	Threshold to determine whether samples are inliers or not when testing possible estimation solutions.

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
MSACRobustKnownBiasAndFrameAccelerometerCalibrator()	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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	getThreshold()	Returns threshold to determine whether samples are inliers or not.
boolean	isQualityScoresRequired()	Indicates whether this calibrator requires quality scores for each measurement or not.
void	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not.

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_THRESHOLD

public static final double DEFAULT_THRESHOLD

Constant defining default threshold to determine whether samples are inliers or not.

See Also:

• Constant Field Values

MIN_THRESHOLD

public static final double MIN_THRESHOLD

Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.

See Also:

• Constant Field Values

threshold

private double threshold

Threshold to determine whether samples are inliers or not when testing possible estimation solutions.

Constructor Details

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator()

Constructor.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

Parameters:

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

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)

Constructor.

Parameters:

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

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

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

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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).

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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).

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias)

Constructor.

Parameters:

bias - known accelerometer bias.

Throws:

IllegalArgumentException - if provided array does not have length 3.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

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

Constructor.

Parameters:

bias - known accelerometer bias.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

MSACRobustKnownBiasAndFrameAccelerometerCalibrator

public MSACRobustKnownBiasAndFrameAccelerometerCalibrator(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

getThreshold

public double getThreshold()

Returns threshold to determine whether samples are inliers or not.

Returns:

threshold to determine whether samples are inliers or not.

setThreshold

public void setThreshold(double threshold)
                  throws com.irurueta.navigation.LockedException

Sets threshold to determine whether samples are inliers or not.

Parameters:

threshold - threshold to be set.

Throws:

IllegalArgumentException - if provided value is equal or less than zero.

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.