Package com.irurueta.navigation.inertial.calibration.generators

Class AccelerometerMeasurementsGenerator

java.lang.Object

com.irurueta.navigation.inertial.calibration.generators.MeasurementsGenerator<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

com.irurueta.navigation.inertial.calibration.generators.AccelerometerMeasurementsGenerator

All Implemented Interfaces:

AccelerometerNoiseRootPsdSource

public class AccelerometerMeasurementsGenerator
extends MeasurementsGenerator<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

Generates measurements for the calibration of accelerometers by alternating static and dynamic intervals where device is kept static or moved. Generated measurements must be used with accelerometer calibrators based on the knowledge of gravity norm (or Earth position) when the device orientation is unknown. Such calibrators are the following ones: - KnownGravityNormAccelerometerCalibrator - KnownPositionAccelerometerCalibrator - KnownBiasAndGravityNormAccelerometerCalibrator - KnownBiasAndPositionAccelerometerCalibrator - RobustKnownGravityNormAccelerometerCalibrator and all its implementations. - RobustKnownPositionAccelerometerCalibrator and all its implementations. - RobustKnownBiasAndGravityNormAccelerometerCalibrator and all its implementations. - RobustKnownBiasAndPositionAccelerometerCalibrator and all its implementations.

Field Summary

Fields inherited from class com.irurueta.navigation.inertial.calibration.generators.MeasurementsGenerator

DEFAULT_MAX_DYNAMIC_SAMPLES, DEFAULT_MIN_STATIC_SAMPLES, listener, staticIntervalDetector, triad

Constructor Summary

Constructors

Constructor	Description
AccelerometerMeasurementsGenerator()	Constructor.
AccelerometerMeasurementsGenerator(AccelerometerMeasurementsGeneratorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected void	getAccelerationTriadFromInputSample(BodyKinematics sample)	Gets corresponding acceleration triad from provided input sample.
protected void	handleDynamicToStaticChange()	Handles a dynamic-to-static interval change.
protected void	handleInitializationCompleted()	Handles an initialization completion.
protected void	handleInitializationFailed()	Handles an error during initialization.
protected void	handleStaticToDynamicChange(double accumulatedAvgX, double accumulatedAvgY, double accumulatedAvgZ, double accumulatedStdX, double accumulatedStdY, double accumulatedStdZ)	Handles a static-to-dynamic interval change.
protected void	postProcess(BodyKinematics sample)	Post process provided input sample.

Methods inherited from class com.irurueta.navigation.inertial.calibration.generators.MeasurementsGenerator

checkProcessedSamples, getAccelerometerBaseNoiseLevel, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelPsd, getAccelerometerBaseNoiseLevelRootPsd, getBaseNoiseLevelAbsoluteThreshold, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getInitialStaticSamples, getInstantaneousNoiseLevelFactor, getListener, getMaxDynamicSamples, getMinStaticSamples, getProcessedDynamicSamples, getProcessedStaticSamples, getStatus, getThreshold, getThresholdAsMeasurement, getThresholdAsMeasurement, getThresholdFactor, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getWindowSize, isDynamicIntervalSkipped, isRunning, isStaticIntervalSkipped, process, reset, setBaseNoiseLevelAbsoluteThreshold, setBaseNoiseLevelAbsoluteThreshold, setInitialStaticSamples, setInstantaneousNoiseLevelFactor, setListener, setMaxDynamicSamples, setMinStaticSamples, setThresholdFactor, setTimeInterval, setTimeInterval, setWindowSize, updateCounters

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AccelerometerMeasurementsGenerator

public AccelerometerMeasurementsGenerator()

Constructor.

AccelerometerMeasurementsGenerator

public AccelerometerMeasurementsGenerator(AccelerometerMeasurementsGeneratorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this generator.

Method Details

postProcess

protected void postProcess(BodyKinematics sample)

Post process provided input sample.

Specified by:

postProcess in class MeasurementsGenerator<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

Parameters:

sample - an input sample.

getAccelerationTriadFromInputSample

protected void getAccelerationTriadFromInputSample(BodyKinematics sample)

Gets corresponding acceleration triad from provided input sample. This method must store the result into MeasurementsGenerator.triad.

Specified by:

getAccelerationTriadFromInputSample in class MeasurementsGenerator<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

Parameters:

sample - input sample.

handleStaticToDynamicChange

protected void handleStaticToDynamicChange(double accumulatedAvgX,
 double accumulatedAvgY,
 double accumulatedAvgZ,
 double accumulatedStdX,
 double accumulatedStdY,
 double accumulatedStdZ)

Handles a static-to-dynamic interval change.

Specified by:

handleStaticToDynamicChange in class MeasurementsGenerator<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

Parameters:

accumulatedAvgX - average x-coordinate of measurements during last static period expressed in meters per squared second (m/s^2).

accumulatedAvgY - average y-coordinate of specific force during last static period expressed in meters per squared second (m/s^2).

accumulatedAvgZ - average z-coordinate of specific force during last static period expressed in meters per squared second (m/s^2).

accumulatedStdX - standard deviation of x-coordinate of measurements during last static period expressed in meters per squared second (m/s^2).

accumulatedStdY - standard deviation of y-coordinate of measurements during last static period expressed in meters per squared second (m/s^2).

accumulatedStdZ - standard deviation of z-coordinate of measurements during last static period expressed in meters per squared second (m/s^2).

handleDynamicToStaticChange

protected void handleDynamicToStaticChange()

Handles a dynamic-to-static interval change.

Specified by:

handleDynamicToStaticChange in class MeasurementsGenerator<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

handleInitializationCompleted

protected void handleInitializationCompleted()

Handles an initialization completion.

Specified by:

handleInitializationCompleted in class MeasurementsGenerator<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>

handleInitializationFailed

protected void handleInitializationFailed()

Handles an error during initialization.

Specified by:

handleInitializationFailed in class MeasurementsGenerator<StandardDeviationBodyKinematics,AccelerometerMeasurementsGenerator,AccelerometerMeasurementsGeneratorListener,BodyKinematics>