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

Class RANSACRobustKnownGravityNormAccelerometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownGravityNormAccelerometerCalibrator
com.irurueta.navigation.inertial.calibration.accelerometer.RANSACRobustKnownGravityNormAccelerometerCalibrator
All Implemented Interfaces:
AccelerometerCalibrator, AccelerometerNonLinearCalibrator, OrderedStandardDeviationBodyKinematicsAccelerometerCalibrator, QualityScoredAccelerometerCalibrator, UnknownBiasAccelerometerCalibrator, UnknownBiasNonLinearAccelerometerCalibrator, AccelerometerBiasUncertaintySource, AccelerometerCalibrationSource
public class RANSACRobustKnownGravityNormAccelerometerCalibrator extends RobustKnownGravityNormAccelerometerCalibrator
Robustly estimates accelerometer biases, cross couplings and scaling factors using a RANSAC algorithm to discard outliers.

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

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

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

  • Field Details

    • DEFAULT_THRESHOLD

      public static final double DEFAULT_THRESHOLD
      Constant defining default threshold to determine whether samples are inliers or not.
      See Also:

    • 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:

    • DEFAULT_COMPUTE_AND_KEEP_INLIERS

      public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS
      Indicates that by default inliers will only be computed but not kept.
      See Also:

    • DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

      public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS
      Indicates that by default residuals will only be computed but not kept.
      See Also:

    • threshold

      private double threshold
      Threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

    • computeAndKeepInliers

      private boolean computeAndKeepInliers
      Indicates whether inliers must be computed and kept.

    • computeAndKeepResiduals

      private boolean computeAndKeepResiduals
      Indicates whether residuals must be computed and kept.

  • Constructor Details

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator()
      Constructor.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

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

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

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

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(double[] initialBias)
      Constructor.
      Parameters:
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

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

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownGravityNormAccelerometerCalibratorListener 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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownGravityNormAccelerometerCalibratorListener 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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias)
      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.
      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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias)
      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.
      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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias)
      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.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      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.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

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

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownGravityNormAccelerometerCalibratorListener 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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

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

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

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

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

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

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias)
      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.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      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.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      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.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RANSACRobustKnownGravityNormAccelerometerCalibrator

      public RANSACRobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

  • Method Details

    • getThreshold

      public double getThreshold()
      Gets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on norm between measured specific forces and the ones generated with estimated calibration parameters provided for each sample.
      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 when testing possible solutions. The threshold refers to the amount of error on norm between measured specific forces and the ones generated with estimated calibration parameters provided for each sample.
      Parameters:
      threshold - threshold to determine whether samples are inliers or not.
      Throws:
      IllegalArgumentException - if provided value is equal or less than zero.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isComputeAndKeepInliersEnabled

      public boolean isComputeAndKeepInliersEnabled()
      Indicates whether inliers must be computed and kept.
      Returns:
      true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

    • setComputeAndKeepInliersEnabled

      public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers) throws com.irurueta.navigation.LockedException
      Specifies whether inliers must be computed and kept.
      Parameters:
      computeAndKeepInliers - true if inliers must be computed and kept, false if inliers only need to be computed but not kept.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isComputeAndKeepResiduals

      public boolean isComputeAndKeepResiduals()
      Indicates whether residuals must be computed and kept.
      Returns:
      true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

    • setComputeAndKeepResidualsEnabled

      public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals) throws com.irurueta.navigation.LockedException
      Specifies whether residuals must be computed and kept.
      Parameters:
      computeAndKeepResiduals - true if residuals must be computed and kept, false if residuals only need to be computed but not kept.
      Throws:
      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 bias, 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 RobustKnownGravityNormAccelerometerCalibrator
      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.