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

Interface GyroscopeNonLinearCalibrator

All Superinterfaces:

GyroscopeCalibrator

All Known Implementing Classes:

EasyGyroscopeCalibrator, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator, KnownBiasEasyGyroscopeCalibrator, KnownBiasTurntableGyroscopeCalibrator, KnownFrameGyroscopeNonLinearLeastSquaresCalibrator, LMedSRobustEasyGyroscopeCalibrator, LMedSRobustKnownBiasAndFrameGyroscopeCalibrator, LMedSRobustKnownBiasEasyGyroscopeCalibrator, LMedSRobustKnownBiasTurntableGyroscopeCalibrator, LMedSRobustKnownFrameGyroscopeCalibrator, LMedSRobustTurntableGyroscopeCalibrator, MSACRobustEasyGyroscopeCalibrator, MSACRobustKnownBiasAndFrameGyroscopeCalibrator, MSACRobustKnownBiasEasyGyroscopeCalibrator, MSACRobustKnownBiasTurntableGyroscopeCalibrator, MSACRobustKnownFrameGyroscopeCalibrator, MSACRobustTurntableGyroscopeCalibrator, PROMedSRobustEasyGyroscopeCalibrator, PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator, PROMedSRobustKnownBiasEasyGyroscopeCalibrator, PROMedSRobustKnownBiasTurntableGyroscopeCalibrator, PROMedSRobustKnownFrameGyroscopeCalibrator, PROMedSRobustTurntableGyroscopeCalibrator, PROSACRobustEasyGyroscopeCalibrator, PROSACRobustKnownBiasAndFrameGyroscopeCalibrator, PROSACRobustKnownBiasEasyGyroscopeCalibrator, PROSACRobustKnownBiasTurntableGyroscopeCalibrator, PROSACRobustKnownFrameGyroscopeCalibrator, PROSACRobustTurntableGyroscopeCalibrator, RANSACRobustEasyGyroscopeCalibrator, RANSACRobustKnownBiasAndFrameGyroscopeCalibrator, RANSACRobustKnownBiasEasyGyroscopeCalibrator, RANSACRobustKnownBiasTurntableGyroscopeCalibrator, RANSACRobustKnownFrameGyroscopeCalibrator, RANSACRobustTurntableGyroscopeCalibrator, RobustEasyGyroscopeCalibrator, RobustKnownBiasAndFrameGyroscopeCalibrator, RobustKnownBiasEasyGyroscopeCalibrator, RobustKnownBiasTurntableGyroscopeCalibrator, RobustKnownFrameGyroscopeCalibrator, RobustTurntableGyroscopeCalibrator, TurntableGyroscopeCalibrator

public interface GyroscopeNonLinearCalibrator
extends GyroscopeCalibrator

Interface for non-linear gyroscope calibrators.

Method Summary

Modifier and Type	Method	Description
double	getEstimatedChiSq()	Gets estimated chi square value.
com.irurueta.algebra.Matrix	getEstimatedCovariance()	Gets estimated covariance matrix for estimated position.
double	getEstimatedMse()	Gets estimated mean square error respect to provided measurements.
com.irurueta.algebra.Matrix	getInitialGg()	Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
void	getInitialGg(com.irurueta.algebra.Matrix result)	Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
com.irurueta.algebra.Matrix	getInitialMg()	Gets initial scale factors and cross coupling errors matrix.
void	getInitialMg(com.irurueta.algebra.Matrix result)	Gets initial scale factors and cross coupling errors matrix.
double	getInitialMxy()	Gets initial x-y cross coupling error.
double	getInitialMxz()	Gets initial x-z cross coupling error.
double	getInitialMyx()	Gets initial y-x cross coupling error.
double	getInitialMyz()	Gets initial y-z cross coupling error.
double	getInitialMzx()	Gets initial z-x cross coupling error.
double	getInitialMzy()	Gets initial z-y cross coupling error.
double	getInitialSx()	Gets initial x scaling factor.
double	getInitialSy()	Gets initial y scaling factor.
double	getInitialSz()	Gets initial z scaling factor.
void	setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial cross coupling errors.
void	setInitialGg(com.irurueta.algebra.Matrix initialGg)	Sets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
void	setInitialMg(com.irurueta.algebra.Matrix initialMg)	Sets initial scale factors and cross coupling errors matrix.
void	setInitialMxy(double initialMxy)	Sets initial x-y cross coupling error.
void	setInitialMxz(double initialMxz)	Sets initial x-z cross coupling error.
void	setInitialMyx(double initialMyx)	Sets initial y-x cross coupling error.
void	setInitialMyz(double initialMyz)	Sets initial y-z cross coupling error.
void	setInitialMzx(double initialMzx)	Sets initial z-x cross coupling error.
void	setInitialMzy(double initialMzy)	Sets initial z-y cross coupling error.
void	setInitialScalingFactors(double initialSx, double initialSy, double initialSz)	Sets initial scaling factors.
void	setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial scaling factors and cross coupling errors.
void	setInitialSx(double initialSx)	Sets initial x scaling factor.
void	setInitialSy(double initialSy)	Sets initial y scaling factor.
void	setInitialSz(double initialSz)	Sets initial z scaling factor.

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

getInitialSx

double getInitialSx()

Gets initial x scaling factor.

Returns:

initial x scaling factor.

setInitialSx

void setInitialSx(double initialSx)
           throws com.irurueta.navigation.LockedException

Sets initial x scaling factor.

Parameters:

initialSx - initial x scaling factor.

Throws:

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

getInitialSy

double getInitialSy()

Gets initial y scaling factor.

Returns:

initial y scaling factor.

setInitialSy

void setInitialSy(double initialSy)
           throws com.irurueta.navigation.LockedException

Sets initial y scaling factor.

Parameters:

initialSy - initial y scaling factor.

Throws:

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

getInitialSz

double getInitialSz()

Gets initial z scaling factor.

Returns:

initial z scaling factor.

setInitialSz

void setInitialSz(double initialSz)
           throws com.irurueta.navigation.LockedException

Sets initial z scaling factor.

Parameters:

initialSz - initial z scaling factor.

Throws:

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

getInitialMxy

double getInitialMxy()

Gets initial x-y cross coupling error.

Returns:

initial x-y cross coupling error.

setInitialMxy

void setInitialMxy(double initialMxy)
            throws com.irurueta.navigation.LockedException

Sets initial x-y cross coupling error.

Parameters:

initialMxy - initial x-y cross coupling error.

Throws:

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

getInitialMxz

double getInitialMxz()

Gets initial x-z cross coupling error.

Returns:

initial x-z cross coupling error.

setInitialMxz

void setInitialMxz(double initialMxz)
            throws com.irurueta.navigation.LockedException

Sets initial x-z cross coupling error.

Parameters:

initialMxz - initial x-z cross coupling error.

Throws:

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

getInitialMyx

double getInitialMyx()

Gets initial y-x cross coupling error.

Returns:

initial y-x cross coupling error.

setInitialMyx

void setInitialMyx(double initialMyx)
            throws com.irurueta.navigation.LockedException

Sets initial y-x cross coupling error.

Parameters:

initialMyx - initial y-x cross coupling error.

Throws:

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

getInitialMyz

double getInitialMyz()

Gets initial y-z cross coupling error.

Returns:

initial y-z cross coupling error.

setInitialMyz

void setInitialMyz(double initialMyz)
            throws com.irurueta.navigation.LockedException

Sets initial y-z cross coupling error.

Parameters:

initialMyz - initial y-z cross coupling error.

Throws:

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

getInitialMzx

double getInitialMzx()

Gets initial z-x cross coupling error.

Returns:

initial z-x cross coupling error.

setInitialMzx

void setInitialMzx(double initialMzx)
            throws com.irurueta.navigation.LockedException

Sets initial z-x cross coupling error.

Parameters:

initialMzx - initial z-x cross coupling error.

Throws:

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

getInitialMzy

double getInitialMzy()

Gets initial z-y cross coupling error.

Returns:

initial z-y cross coupling error.

setInitialMzy

void setInitialMzy(double initialMzy)
            throws com.irurueta.navigation.LockedException

Sets initial z-y cross coupling error.

Parameters:

initialMzy - initial z-y cross coupling error.

Throws:

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

setInitialScalingFactors

void setInitialScalingFactors(double initialSx,
 double initialSy,
 double initialSz)
                       throws com.irurueta.navigation.LockedException

Sets initial scaling factors.

Parameters:

initialSx - initial x scaling factor.

initialSy - initial y scaling factor.

initialSz - initial z scaling factor.

Throws:

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

setInitialCrossCouplingErrors

void setInitialCrossCouplingErrors(double initialMxy,
 double initialMxz,
 double initialMyx,
 double initialMyz,
 double initialMzx,
 double initialMzy)
                            throws com.irurueta.navigation.LockedException

Sets initial cross coupling errors.

Parameters:

initialMxy - initial x-y cross coupling error.

initialMxz - initial x-z cross coupling error.

initialMyx - initial y-x cross coupling error.

initialMyz - initial y-z cross coupling error.

initialMzx - initial z-x cross coupling error.

initialMzy - initial z-y cross coupling error.

Throws:

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

setInitialScalingFactorsAndCrossCouplingErrors

void setInitialScalingFactorsAndCrossCouplingErrors(double initialSx,
 double initialSy,
 double initialSz,
 double initialMxy,
 double initialMxz,
 double initialMyx,
 double initialMyz,
 double initialMzx,
 double initialMzy)
                                             throws com.irurueta.navigation.LockedException

Sets initial scaling factors and cross coupling errors.

Parameters:

initialSx - initial x scaling factor.

initialSy - initial y scaling factor.

initialSz - initial z scaling factor.

initialMxy - initial x-y cross coupling error.

initialMxz - initial x-z cross coupling error.

initialMyx - initial y-x cross coupling error.

initialMyz - initial y-z cross coupling error.

initialMzx - initial z-x cross coupling error.

initialMzy - initial z-y cross coupling error.

Throws:

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

getInitialMg

com.irurueta.algebra.Matrix getInitialMg()

Gets initial scale factors and cross coupling errors matrix.

Returns:

initial scale factors and cross coupling errors matrix.

getInitialMg

void getInitialMg(com.irurueta.algebra.Matrix result)

Gets initial scale factors and cross coupling errors matrix.

Parameters:

result - instance where data will be stored.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

setInitialMg

void setInitialMg(com.irurueta.algebra.Matrix initialMg)
           throws com.irurueta.navigation.LockedException

Sets initial scale factors and cross coupling errors matrix.

Parameters:

initialMg - initial scale factors and cross coupling errors matrix.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

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

getInitialGg

com.irurueta.algebra.Matrix getInitialGg()

Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

Returns:

a 3x3 matrix containing initial g-dependent cross biases.

getInitialGg

void getInitialGg(com.irurueta.algebra.Matrix result)

Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

Parameters:

result - instance where data will be stored.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

setInitialGg

void setInitialGg(com.irurueta.algebra.Matrix initialGg)
           throws com.irurueta.navigation.LockedException

Sets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

Parameters:

initialGg - g-dependent cross biases.

Throws:

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

getEstimatedCovariance

com.irurueta.algebra.Matrix getEstimatedCovariance()

Gets estimated covariance matrix for estimated position.

Returns:

estimated covariance matrix for estimated position.

getEstimatedChiSq

double getEstimatedChiSq()

Gets estimated chi square value.

Returns:

estimated chi square value.

getEstimatedMse

double getEstimatedMse()

Gets estimated mean square error respect to provided measurements.

Returns:

estimated mean square error respect to provided measurements.