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

Interface UnorderedFrameBodyKinematicsAccelerometerCalibrator

All Superinterfaces:

AccelerometerCalibrator

All Known Implementing Classes:

KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibrator, KnownFrameAccelerometerLinearLeastSquaresCalibrator

public interface UnorderedFrameBodyKinematicsAccelerometerCalibrator
extends AccelerometerCalibrator

Defines an accelerometer calibrator using unordered collections of FrameBodyKinematics measurements.

Method Summary

Modifier and Type	Method	Description
Collection<FrameBodyKinematics>	getMeasurements()	Gets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).
void	setMeasurements(Collection<? extends FrameBodyKinematics> measurements)	Sets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

Methods inherited from interface com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerCalibrator

calibrate, getEstimatedMa, getEstimatedMxy, getEstimatedMxz, getEstimatedMyx, getEstimatedMyz, getEstimatedMzx, getEstimatedMzy, getEstimatedSx, getEstimatedSy, getEstimatedSz, getMeasurementType, getMinimumRequiredMeasurements, isCommonAxisUsed, isOrderedMeasurementsRequired, isQualityScoresRequired, isReady, isRunning, setCommonAxisUsed

Method Details

getMeasurements

Collection<FrameBodyKinematics> getMeasurements()

Gets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities). If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

Returns:

a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

setMeasurements

void setMeasurements(Collection<? extends FrameBodyKinematics> measurements)
              throws com.irurueta.navigation.LockedException

Sets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities). If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

Parameters:

measurements - collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

Throws:

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