Package com.irurueta.navigation.inertial.calibration.bias

package com.irurueta.navigation.inertial.calibration.bias

Contains approximate bias (or hard iron for the magnetometer case) estimators.

Bias can be approximately estimated for accelerometers, gyroscopes and magnetometers when body remains static and its position respect to Earth and orientation is approximately known.

Estimators in this package assume that any cross coupling error can be neglected, hence estimated biases are approximate, however these approximate values can be used by some non-linear calibrators to obtain more accurate results such as: - com.irurueta.navigation.inertial.calibration.accelerometer.KnownFrameAccelerometerNonLinearLeastSquaresCalibrator - com.irurueta.navigation.inertial.calibration.accelerometer.KnownGravityNormAccelerometerCalibrator - com.irurueta.navigation.inertial.calibration.accelerometer.KnownPositionAccelerometerCalibrator - com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownFrameAccelerometerCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownGravityNormAccelerometerCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownPositionAccelerometerCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.gyroscope.EasyGyroscopeCalibrator - com.irurueta.navigation.inertial.calibration.gyroscope.KnownFrameGyroscopeNonLinearLeastSquaresCalibrator - com.irurueta.navigation.inertial.calibration.gyroscope.RobustEasyGyroscopeCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownFrameGyroscopeCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.gyroscope.RobustTurntableGyroscopeCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.magnetometer.KnownFrameMagnetometerNonLinearLeastSquaresCalibrator - com.irurueta.navigation.inertial.calibration.magnetometer.KnownPositionAndInstantMagnetometerCalibrator - com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownFrameMagnetometerCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownPositionAndInstantMagnetometerCalibrator and any of its subclasses.

On the other hand, it can be simply be assumed that estimated biases are accurate enough and can be used by calibrators such as: - com.irurueta.navigation.inertial.calibration.accelerometer.KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibrator - com.irurueta.navigation.inertial.calibration.accelerometer.KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator - com.irurueta.navigation.inertial.calibration.accelerometer.KnownBiasAndGravityNormAccelerometerCalibrator - com.irurueta.navigation.inertial.calibration.accelerometer.KnownBiasAndPositionAccelerometerCalibrator - com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndFrameAccelerometerCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndGravityNormAccelerometerCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndPositionAccelerometerCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.gyroscope.KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator - com.irurueta.navigation.inertial.calibration.gyroscope.KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator - com.irurueta.navigation.inertial.calibration.gyroscope.KnownBiasEasyGyroscopeCalibrator - com.irurueta.navigation.inertial.calibration.gyroscope.KnownBiasTurntableGyroscopeCalibrator - com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownBiasAndFrameGyroscopeCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownBiasEasyGyroscopeCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownBiasTurntableGyroscopeCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.magnetometer.KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator - com.irurueta.navigation.inertial.calibration.magnetometer.KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator - com.irurueta.navigation.inertial.calibration.magnetometer.KnownHardIronPositionAndInstantMagnetometerCalibrator - com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownHardIronAndFrameMagnetometerCalibrator and any of its subclasses. - com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownHardIronPositionAndInstantMagnetometerCalibrator and any of its subclasses.

Related Packages

Package	Description
com.irurueta.navigation.inertial.calibration	Contains classes to perform calibration of accelerometers, gyroscopes and magnetometers.

Class	Description
BodyKinematicsBiasEstimator	Approximately estimates accelerometer and gyroscope biases and noise PSD's by averaging all provided samples when body position and orientation is known while assuming that any cross coupling errors can be neglected.
BodyKinematicsBiasEstimatorListener	Listener for BodyKinematicsBiasEstimator to handle generated events.
BodyMagneticFluxDensityBiasEstimator	Approximately estimated magnetometer biases (hard iron) and noise PSD's by averaging all provided samples when instant, body position and orientation is known while assuming that any soft iron cross coupling errors can be neglected.
BodyMagneticFluxDensityBiasEstimatorListener	Listener to BodyMagneticFluxDensityBiasEstimator to handle generated events.