Package com.irurueta.navigation.inertial.calibration.gyroscope

Interface AccelerometerDependentGyroscopeCalibrator

All Superinterfaces:
GyroscopeCalibrator
All Known Implementing Classes:
EasyGyroscopeCalibrator, KnownBiasEasyGyroscopeCalibrator, KnownBiasTurntableGyroscopeCalibrator, LMedSRobustEasyGyroscopeCalibrator, LMedSRobustKnownBiasEasyGyroscopeCalibrator, LMedSRobustKnownBiasTurntableGyroscopeCalibrator, LMedSRobustTurntableGyroscopeCalibrator, MSACRobustEasyGyroscopeCalibrator, MSACRobustKnownBiasEasyGyroscopeCalibrator, MSACRobustKnownBiasTurntableGyroscopeCalibrator, MSACRobustTurntableGyroscopeCalibrator, PROMedSRobustEasyGyroscopeCalibrator, PROMedSRobustKnownBiasEasyGyroscopeCalibrator, PROMedSRobustKnownBiasTurntableGyroscopeCalibrator, PROMedSRobustTurntableGyroscopeCalibrator, PROSACRobustEasyGyroscopeCalibrator, PROSACRobustKnownBiasEasyGyroscopeCalibrator, PROSACRobustKnownBiasTurntableGyroscopeCalibrator, PROSACRobustTurntableGyroscopeCalibrator, RANSACRobustEasyGyroscopeCalibrator, RANSACRobustKnownBiasEasyGyroscopeCalibrator, RANSACRobustKnownBiasTurntableGyroscopeCalibrator, RANSACRobustTurntableGyroscopeCalibrator, RobustEasyGyroscopeCalibrator, RobustKnownBiasEasyGyroscopeCalibrator, RobustKnownBiasTurntableGyroscopeCalibrator, RobustTurntableGyroscopeCalibrator, TurntableGyroscopeCalibrator
public interface AccelerometerDependentGyroscopeCalibrator extends GyroscopeCalibrator
Defines a gyroscope calibrator that depends on previously known accelerometer parameters (bias, scaling and cross coupling errors).

  • Method Summary

    Modifier and Type
    Method
    Description
    double[]
    getAccelerometerBias()
    Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    getAccelerometerBias(double[] result)
    Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    com.irurueta.algebra.Matrix
    getAccelerometerBiasAsMatrix()
    Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    getAccelerometerBiasAsMatrix(com.irurueta.algebra.Matrix result)
    Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    double
    getAccelerometerBiasX()
    Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    com.irurueta.units.Acceleration
    getAccelerometerBiasXAsAcceleration()
    Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    getAccelerometerBiasXAsAcceleration(com.irurueta.units.Acceleration result)
    Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    double
    getAccelerometerBiasY()
    Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    com.irurueta.units.Acceleration
    getAccelerometerBiasYAsAcceleration()
    Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    getAccelerometerBiasYAsAcceleration(com.irurueta.units.Acceleration result)
    Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    double
    getAccelerometerBiasZ()
    Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    com.irurueta.units.Acceleration
    getAccelerometerBiasZAsAcceleration()
    Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    getAccelerometerBiasZAsAcceleration(com.irurueta.units.Acceleration result)
    Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    com.irurueta.algebra.Matrix
    getAccelerometerMa()
    Gets known accelerometer scale factors and cross coupling errors matrix.
    void
    getAccelerometerMa(com.irurueta.algebra.Matrix result)
    Gets known accelerometer scale factors and cross coupling errors matrix.
    double
    getAccelerometerMxy()
    Gets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    double
    getAccelerometerMxz()
    Gets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    double
    getAccelerometerMyx()
    Gets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    double
    getAccelerometerMyz()
    Gets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    double
    getAccelerometerMzx()
    Gets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    double
    getAccelerometerMzy()
    Gets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    double
    getAccelerometerSx()
    Gets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    double
    getAccelerometerSy()
    Gets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    double
    getAccelerometerSz()
    Gets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerBias(double[] accelerometerBias)
    Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerBias(double accelerometerBiasX, double accelerometerBiasY, double accelerometerBiasZ)
    Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerBias(com.irurueta.algebra.Matrix accelerometerBias)
    Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerBias(com.irurueta.units.Acceleration accelerometerBiasX, com.irurueta.units.Acceleration accelerometerBiasY, com.irurueta.units.Acceleration accelerometerBiasZ)
    Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerBiasX(double accelerometerBiasX)
    Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerBiasX(com.irurueta.units.Acceleration accelerometerBiasX)
    Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerBiasY(double accelerometerBiasY)
    Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerBiasY(com.irurueta.units.Acceleration accelerometerBiasY)
    Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerBiasZ(double accelerometerBiasZ)
    Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerBiasZ(com.irurueta.units.Acceleration accelerometerBiasZ)
    Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerCrossCouplingErrors(double accelerometerMxy, double accelerometerMxz, double accelerometerMyx, double accelerometerMyz, double accelerometerMzx, double accelerometerMzy)
    Sets known accelerometer cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerMa(com.irurueta.algebra.Matrix accelerometerMa)
    Sets known accelerometer scale factors and cross coupling errors matrix.
    void
    setAccelerometerMxy(double accelerometerMxy)
    Sets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerMxz(double accelerometerMxz)
    Sets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerMyx(double accelerometerMyx)
    Sets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerMyz(double accelerometerMyz)
    Sets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerMzx(double accelerometerMzx)
    Sets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerMzy(double accelerometerMzy)
    Sets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerScalingFactors(double accelerometerSx, double accelerometerSy, double accelerometerSz)
    Sets known accelerometer scaling factors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerScalingFactorsAndCrossCouplingErrors(double accelerometerSx, double accelerometerSy, double accelerometerSz, double accelerometerMxy, double accelerometerMxz, double accelerometerMyx, double accelerometerMyz, double accelerometerMzx, double accelerometerMzy)
    Sets known accelerometer scaling factors and cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerSx(double accelerometerSx)
    Sets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerSy(double accelerometerSy)
    Sets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
    void
    setAccelerometerSz(double accelerometerSz)
    Sets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

    Methods inherited from interface com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeCalibrator

    calibrate, getEstimatedGg, getEstimatedMg, getEstimatedMxy, getEstimatedMxz, getEstimatedMyx, getEstimatedMyz, getEstimatedMzx, getEstimatedMzy, getEstimatedSx, getEstimatedSy, getEstimatedSz, getMeasurementOrSequenceType, getMinimumRequiredMeasurementsOrSequences, isCommonAxisUsed, isOrderedMeasurementsOrSequencesRequired, isQualityScoresRequired, isReady, isRunning, setCommonAxisUsed

  • Method Details

    • getAccelerometerBiasX

      double getAccelerometerBiasX()
      Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Returns:
      known x-coordinate of accelerometer bias.

    • setAccelerometerBiasX

      void setAccelerometerBiasX(double accelerometerBiasX) throws com.irurueta.navigation.LockedException
      Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Parameters:
      accelerometerBiasX - known x-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBiasY

      double getAccelerometerBiasY()
      Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Returns:
      known y-coordinate of accelerometer bias.

    • setAccelerometerBiasY

      void setAccelerometerBiasY(double accelerometerBiasY) throws com.irurueta.navigation.LockedException
      Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Parameters:
      accelerometerBiasY - known y-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBiasZ

      double getAccelerometerBiasZ()
      Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Returns:
      known z-coordinate of accelerometer bias.

    • setAccelerometerBiasZ

      void setAccelerometerBiasZ(double accelerometerBiasZ) throws com.irurueta.navigation.LockedException
      Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Parameters:
      accelerometerBiasZ - known z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBiasXAsAcceleration

      com.irurueta.units.Acceleration getAccelerometerBiasXAsAcceleration()
      Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known x-coordinate of accelerometer bias.

    • getAccelerometerBiasXAsAcceleration

      void getAccelerometerBiasXAsAcceleration(com.irurueta.units.Acceleration result)
      Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      result - instance where result data will be stored.

    • setAccelerometerBiasX

      void setAccelerometerBiasX(com.irurueta.units.Acceleration accelerometerBiasX) throws com.irurueta.navigation.LockedException
      Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerBiasX - x-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBiasYAsAcceleration

      com.irurueta.units.Acceleration getAccelerometerBiasYAsAcceleration()
      Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known y-coordinate of accelerometer bias.

    • getAccelerometerBiasYAsAcceleration

      void getAccelerometerBiasYAsAcceleration(com.irurueta.units.Acceleration result)
      Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      result - instance where result data will be stored.

    • setAccelerometerBiasY

      void setAccelerometerBiasY(com.irurueta.units.Acceleration accelerometerBiasY) throws com.irurueta.navigation.LockedException
      Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerBiasY - y-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBiasZAsAcceleration

      com.irurueta.units.Acceleration getAccelerometerBiasZAsAcceleration()
      Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known z-coordinate of accelerometer bias.

    • getAccelerometerBiasZAsAcceleration

      void getAccelerometerBiasZAsAcceleration(com.irurueta.units.Acceleration result)
      Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      result - instance where result data will be stored.

    • setAccelerometerBiasZ

      void setAccelerometerBiasZ(com.irurueta.units.Acceleration accelerometerBiasZ) throws com.irurueta.navigation.LockedException
      Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerBiasZ - z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setAccelerometerBias

      void setAccelerometerBias(double accelerometerBiasX, double accelerometerBiasY, double accelerometerBiasZ) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Parameters:
      accelerometerBiasX - x-coordinate of accelerometer bias.
      accelerometerBiasY - y-coordinate of accelerometer bias.
      accelerometerBiasZ - z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setAccelerometerBias

      void setAccelerometerBias(com.irurueta.units.Acceleration accelerometerBiasX, com.irurueta.units.Acceleration accelerometerBiasY, com.irurueta.units.Acceleration accelerometerBiasZ) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerBiasX - x-coordinate of accelerometer bias.
      accelerometerBiasY - y-coordinate of accelerometer bias.
      accelerometerBiasZ - z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBias

      double[] getAccelerometerBias()
      Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Returns:
      known accelerometer bias.

    • getAccelerometerBias

      void getAccelerometerBias(double[] result)
      Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setAccelerometerBias

      void setAccelerometerBias(double[] accelerometerBias) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Parameters:
      accelerometerBias - known accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getAccelerometerBiasAsMatrix

      com.irurueta.algebra.Matrix getAccelerometerBiasAsMatrix()
      Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Returns:
      known accelerometer bias.

    • getAccelerometerBiasAsMatrix

      void getAccelerometerBiasAsMatrix(com.irurueta.algebra.Matrix result)
      Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • setAccelerometerBias

      void setAccelerometerBias(com.irurueta.algebra.Matrix accelerometerBias) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Parameters:
      accelerometerBias - known accelerometer bias. Must be 3x1.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x1.

    • getAccelerometerSx

      double getAccelerometerSx()
      Gets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known accelerometer x scaling factor.

    • setAccelerometerSx

      void setAccelerometerSx(double accelerometerSx) throws com.irurueta.navigation.LockedException
      Sets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerSx - known accelerometer x scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerSy

      double getAccelerometerSy()
      Gets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known accelerometer y scaling factor.

    • setAccelerometerSy

      void setAccelerometerSy(double accelerometerSy) throws com.irurueta.navigation.LockedException
      Sets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerSy - known accelerometer y scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerSz

      double getAccelerometerSz()
      Gets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known accelerometer z scaling factor.

    • setAccelerometerSz

      void setAccelerometerSz(double accelerometerSz) throws com.irurueta.navigation.LockedException
      Sets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerSz - known accelerometer z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMxy

      double getAccelerometerMxy()
      Gets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known accelerometer x-y cross coupling error.

    • setAccelerometerMxy

      void setAccelerometerMxy(double accelerometerMxy) throws com.irurueta.navigation.LockedException
      Sets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerMxy - known accelerometer x-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMxz

      double getAccelerometerMxz()
      Gets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known accelerometer x-z cross coupling error.

    • setAccelerometerMxz

      void setAccelerometerMxz(double accelerometerMxz) throws com.irurueta.navigation.LockedException
      Sets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerMxz - known accelerometer x-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMyx

      double getAccelerometerMyx()
      Gets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known accelerometer y-x cross coupling error.

    • setAccelerometerMyx

      void setAccelerometerMyx(double accelerometerMyx) throws com.irurueta.navigation.LockedException
      Sets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerMyx - known accelerometer y-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMyz

      double getAccelerometerMyz()
      Gets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known accelerometer y-z cross coupling error.

    • setAccelerometerMyz

      void setAccelerometerMyz(double accelerometerMyz) throws com.irurueta.navigation.LockedException
      Sets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerMyz - known accelerometer y-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMzx

      double getAccelerometerMzx()
      Gets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known accelerometer z-x cross coupling error.

    • setAccelerometerMzx

      void setAccelerometerMzx(double accelerometerMzx) throws com.irurueta.navigation.LockedException
      Sets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerMzx - known accelerometer z-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMzy

      double getAccelerometerMzy()
      Gets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Returns:
      known accelerometer z-y cross coupling error.

    • setAccelerometerMzy

      void setAccelerometerMzy(double accelerometerMzy) throws com.irurueta.navigation.LockedException
      Sets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerMzy - known accelerometer z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setAccelerometerScalingFactors

      void setAccelerometerScalingFactors(double accelerometerSx, double accelerometerSy, double accelerometerSz) throws com.irurueta.navigation.LockedException
      Sets known accelerometer scaling factors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerSx - known accelerometer x scaling factor.
      accelerometerSy - known accelerometer y scaling factor.
      accelerometerSz - known accelerometer z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setAccelerometerCrossCouplingErrors

      void setAccelerometerCrossCouplingErrors(double accelerometerMxy, double accelerometerMxz, double accelerometerMyx, double accelerometerMyz, double accelerometerMzx, double accelerometerMzy) throws com.irurueta.navigation.LockedException
      Sets known accelerometer cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerMxy - known accelerometer x-y cross coupling error.
      accelerometerMxz - known accelerometer x-z cross coupling error.
      accelerometerMyx - known accelerometer y-x cross coupling error.
      accelerometerMyz - known accelerometer y-z cross coupling error.
      accelerometerMzx - known accelerometer z-x cross coupling error.
      accelerometerMzy - known accelerometer z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setAccelerometerScalingFactorsAndCrossCouplingErrors

      void setAccelerometerScalingFactorsAndCrossCouplingErrors(double accelerometerSx, double accelerometerSy, double accelerometerSz, double accelerometerMxy, double accelerometerMxz, double accelerometerMyx, double accelerometerMyz, double accelerometerMzx, double accelerometerMzy) throws com.irurueta.navigation.LockedException
      Sets known accelerometer scaling factors and cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Parameters:
      accelerometerSx - known accelerometer x scaling factor.
      accelerometerSy - known accelerometer y scaling factor.
      accelerometerSz - known accelerometer z scaling factor.
      accelerometerMxy - known accelerometer x-y cross coupling error.
      accelerometerMxz - known accelerometer x-z cross coupling error.
      accelerometerMyx - known accelerometer y-x cross coupling error.
      accelerometerMyz - known accelerometer y-z cross coupling error.
      accelerometerMzx - known accelerometer z-x cross coupling error.
      accelerometerMzy - known accelerometer z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMa

      com.irurueta.algebra.Matrix getAccelerometerMa()
      Gets known accelerometer scale factors and cross coupling errors matrix.
      Returns:
      known accelerometer scale factors and cross coupling errors matrix.

    • getAccelerometerMa

      void getAccelerometerMa(com.irurueta.algebra.Matrix result)
      Gets known accelerometer scale factors and cross coupling errors matrix.
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • setAccelerometerMa

      void setAccelerometerMa(com.irurueta.algebra.Matrix accelerometerMa) throws com.irurueta.navigation.LockedException
      Sets known accelerometer scale factors and cross coupling errors matrix.
      Parameters:
      accelerometerMa - known accelerometer scale factors and cross coupling errors matrix. Must be 3x3.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x3.