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

Class PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndGravityNormAccelerometerCalibrator
com.irurueta.navigation.inertial.calibration.accelerometer.PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator
All Implemented Interfaces:
AccelerometerCalibrator, AccelerometerNonLinearCalibrator, KnownBiasAccelerometerCalibrator, OrderedStandardDeviationBodyKinematicsAccelerometerCalibrator, QualityScoredAccelerometerCalibrator
public class PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator extends RobustKnownBiasAndGravityNormAccelerometerCalibrator
Robustly estimates accelerometer cross couplings and scaling factors using a PROMedS 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.

  • 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:

    • MIN_STOP_THRESHOLD

      public static final double MIN_STOP_THRESHOLD
      Minimum allowed stop threshold value.
      See Also:

    • 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.

    • qualityScores

      private double[] qualityScores
      Quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

  • Constructor Details

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator()
      Constructor.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

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

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(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.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

    • PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, RobustKnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      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 or if provided quality scores length is smaller than 10 or 13 samples.

  • 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.

    • getQualityScores

      public double[] getQualityScores()
      Returns quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      Specified by:
      getQualityScores in interface QualityScoredAccelerometerCalibrator
      Overrides:
      getQualityScores in class RobustKnownBiasAndGravityNormAccelerometerCalibrator
      Returns:
      quality scores corresponding to each sample.

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws com.irurueta.navigation.LockedException
      Sets quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      Specified by:
      setQualityScores in interface QualityScoredAccelerometerCalibrator
      Overrides:
      setQualityScores in class RobustKnownBiasAndGravityNormAccelerometerCalibrator
      Parameters:
      qualityScores - quality scores corresponding to each sample.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than minimum required samples (10 or 13).
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isReady

      public boolean isReady()
      Indicates whether solver is ready to find a solution.
      Specified by:
      isReady in interface AccelerometerCalibrator
      Overrides:
      isReady in class RobustKnownBiasAndGravityNormAccelerometerCalibrator
      Returns:
      true if solver is ready, false otherwise.

    • 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.

    • internalSetQualityScores

      private void internalSetQualityScores(double[] qualityScores)
      Sets quality scores corresponding to each provided sample. This method is used internally and does not check whether instance is locked or not.
      Parameters:
      qualityScores - quality scores to be set.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than the minimum required number of samples (10 or 13).