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

Class KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.gyroscope.KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator
All Implemented Interfaces:
GyroscopeCalibrator, GyroscopeNonLinearCalibrator, KnownBiasAndFrameGyroscopeCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener>, KnownBiasGyroscopeCalibrator, UnorderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator
public class KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator extends Object implements KnownBiasAndFrameGyroscopeCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener>, GyroscopeNonLinearCalibrator, UnorderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator
Estimates gyroscope cross couplings and scaling factors along with G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

This calibrator uses an iterative approach to find a minimum least squared error solution.

To use this calibrator at least 6 measurements at different known frames must be provided. In other words, accelerometer and gyroscope (i.e. body kinematics) samples must be obtained at 6 different positions, orientations and velocities (although typically velocities are always zero).

Measured gyroscope angular rates is assumed to follow the model shown below: 

     Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w
Where: - Ωmeas is the measured gyroscope angular rates. This is a 3x1 vector. - bg is the gyroscope bias. Ideally, on a perfect gyroscope, this should be a 3x1 zero vector. - I is the 3x3 identity matrix. - Mg is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on a perfect gyroscope, this should be a 3x3 zero matrix. - Ωtrue is ground-truth gyroscope angular rates. - Gg is the G-dependent cross biases introduced by the specific forces sensed by the accelerometer. Ideally, on a perfect gyroscope, this should be a 3x3 zero matrix. - ftrue is ground-truth specific force. This is a 3x1 vector. - w is measurement noise. This is a 3x1 vector.

  • Field Details

    • DEFAULT_USE_COMMON_Z_AXIS

      public static final boolean DEFAULT_USE_COMMON_Z_AXIS
      Indicates whether by default a common z-axis is assumed for both the accelerometer and gyroscope.
      See Also:

    • MINIMUM_MEASUREMENTS

      public static final int MINIMUM_MEASUREMENTS
      Required minimum number of measurements.
      See Also:

    • COMMON_Z_AXIS_UNKNOWNS

      private static final int COMMON_Z_AXIS_UNKNOWNS
      Number of unknowns when common z-axis is assumed for both the accelerometer and gyroscope.
      See Also:

    • GENERAL_UNKNOWNS

      private static final int GENERAL_UNKNOWNS
      Number of unknowns for the general case.
      See Also:

    • fitter

      private final com.irurueta.numerical.fitting.LevenbergMarquardtMultiVariateFitter fitter
      Levenberg-Marquardt fitter to find a non-linear solution.

    • initialSx

      private double initialSx
      Initial x scaling factor.

    • initialSy

      private double initialSy
      Initial y scaling factor.

    • initialSz

      private double initialSz
      Initial z scaling factor.

    • initialMxy

      private double initialMxy
      Initial x-y cross coupling error.

    • initialMxz

      private double initialMxz
      Initial x-z cross coupling error.

    • initialMyx

      private double initialMyx
      Initial y-x cross coupling error.

    • initialMyz

      private double initialMyz
      Initial y-z cross coupling error.

    • initialMzx

      private double initialMzx
      Initial z-x cross coupling error.

    • initialMzy

      private double initialMzy
      Initial z-y cross coupling error.

    • initialGg

      private com.irurueta.algebra.Matrix initialGg
      Initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

    • measurements

      private Collection<StandardDeviationFrameBodyKinematics> measurements
      Contains a collections of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. 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 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.

    • commonAxisUsed

      private boolean commonAxisUsed
      This flag indicates whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.

    • listener

      private KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener
      Listener to handle events raised by this calibrator.

    • biasX

      private double biasX
      Known x coordinate of gyroscope bias expressed in radians per second (rad/s).

    • biasY

      private double biasY
      Known y coordinate of gyroscope bias expressed in radians per second (rad/s).

    • biasZ

      private double biasZ
      Known z coordinate of gyroscope bias expressed in radians per second (rad/s).

    • estimatedMg

      private com.irurueta.algebra.Matrix estimatedMg
      Estimated gyroscope scale factors and cross coupling errors. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So that: 
           Mg = [sx    mxy  mxz] = Tg*Kg
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Kg = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Tg = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the gyroscope z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix becomes upper diagonal: 
           Mg = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.

    • estimatedGg

      private com.irurueta.algebra.Matrix estimatedGg
      Estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. This instance allows any 3x3 matrix.

    • estimatedCovariance

      private com.irurueta.algebra.Matrix estimatedCovariance
      Estimated covariance matrix for estimated position.

    • estimatedChiSq

      private double estimatedChiSq
      Estimated chi square value.

    • estimatedMse

      private double estimatedMse
      Estimated mean square error respect to provided measurements.

    • running

      private boolean running
      Indicates whether calibrator is running.

  • Constructor Details

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator()
      Constructor.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      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.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      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.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      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.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      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.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      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.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      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.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      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.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      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.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      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.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(double[] bias)
      Constructor.
      Parameters:
      bias - known gyroscope bias expressed in radians per second (rad/s). This must have length 3.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(double[] bias, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known gyroscope bias expressed in radians per second (rad/s). This must have length 3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias expressed in radians per second (rad/s). This must have length 3.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, double[] bias, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias expressed in radians per second (rad/s). This must have length 3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known gyroscope bias expressed in radians per second (rad/s). This must have length 3.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, double[] bias, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known gyroscope bias expressed in radians per second (rad/s). This must have length 3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known gyroscope bias expressed in radians per second (rad/s). This must have length 3.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known gyroscope bias expressed in radians per second (rad/s). This must have length 3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg)
      Constructor.
      Parameters:
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      initialGg - initial G-dependent cross biases.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1, scaling and coupling error matrix is not 3x3 or g-dependant cross biases is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      initialGg - initial G-dependent cross biases.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1, scaling and coupling error matrix is not 3x3 or g-dependant cross biases is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      initialGg - initial G-dependent cross biases.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1, scaling and coupling error matrix is not 3x3 or g-dependant cross biases is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      initialGg - initial G-dependent cross biases.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1, scaling and coupling error matrix is not 3x3 or g-dependant cross biases is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      initialGg - initial G-dependent cross biases.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1, scaling and coupling error matrix is not 3x3 or g-dependant cross biases is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      initialGg - initial G-dependent cross biases.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1, scaling and coupling error matrix is not 3x3 or g-dependant cross biases is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      initialGg - initial G-dependent cross biases.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1, scaling and coupling error matrix is not 3x3 or g-dependant cross biases is not 3x3.

    • KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator(Collection<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known bias expressed in radians per second (rad/s). This must be 3x1.
      initialMg - initial scale factors and cross coupling errors matrix.
      initialGg - initial G-dependent cross biases.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1, scaling and coupling error matrix is not 3x3 or g-dependant cross biases is not 3x3.

  • Method Details

    • getInitialSx

      public double getInitialSx()
      Gets initial x scaling factor.
      Specified by:
      getInitialSx in interface GyroscopeNonLinearCalibrator
      Returns:
      initial x scaling factor.

    • setInitialSx

      public void setInitialSx(double initialSx) throws com.irurueta.navigation.LockedException
      Sets initial x scaling factor.
      Specified by:
      setInitialSx in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSy

      public double getInitialSy()
      Gets initial y scaling factor.
      Specified by:
      getInitialSy in interface GyroscopeNonLinearCalibrator
      Returns:
      initial y scaling factor.

    • setInitialSy

      public void setInitialSy(double initialSy) throws com.irurueta.navigation.LockedException
      Sets initial y scaling factor.
      Specified by:
      setInitialSy in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialSy - initial y scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSz

      public double getInitialSz()
      Gets initial z scaling factor.
      Specified by:
      getInitialSz in interface GyroscopeNonLinearCalibrator
      Returns:
      initial z scaling factor.

    • setInitialSz

      public void setInitialSz(double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial z scaling factor.
      Specified by:
      setInitialSz in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialSz - initial z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxy

      public double getInitialMxy()
      Gets initial x-y cross coupling error.
      Specified by:
      getInitialMxy in interface GyroscopeNonLinearCalibrator
      Returns:
      initial x-y cross coupling error.

    • setInitialMxy

      public void setInitialMxy(double initialMxy) throws com.irurueta.navigation.LockedException
      Sets initial x-y cross coupling error.
      Specified by:
      setInitialMxy in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMxy - initial x-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxz

      public double getInitialMxz()
      Gets initial x-z cross coupling error.
      Specified by:
      getInitialMxz in interface GyroscopeNonLinearCalibrator
      Returns:
      initial x-z cross coupling error.

    • setInitialMxz

      public void setInitialMxz(double initialMxz) throws com.irurueta.navigation.LockedException
      Sets initial x-z cross coupling error.
      Specified by:
      setInitialMxz in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMxz - initial x-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyx

      public double getInitialMyx()
      Gets initial y-x cross coupling error.
      Specified by:
      getInitialMyx in interface GyroscopeNonLinearCalibrator
      Returns:
      initial y-x cross coupling error.

    • setInitialMyx

      public void setInitialMyx(double initialMyx) throws com.irurueta.navigation.LockedException
      Sets initial y-x cross coupling error.
      Specified by:
      setInitialMyx in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMyx - initial y-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyz

      public double getInitialMyz()
      Gets initial y-z cross coupling error.
      Specified by:
      getInitialMyz in interface GyroscopeNonLinearCalibrator
      Returns:
      initial y-z cross coupling error.

    • setInitialMyz

      public void setInitialMyz(double initialMyz) throws com.irurueta.navigation.LockedException
      Sets initial y-z cross coupling error.
      Specified by:
      setInitialMyz in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMyz - initial y-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzx

      public double getInitialMzx()
      Gets initial z-x cross coupling error.
      Specified by:
      getInitialMzx in interface GyroscopeNonLinearCalibrator
      Returns:
      initial z-x cross coupling error.

    • setInitialMzx

      public void setInitialMzx(double initialMzx) throws com.irurueta.navigation.LockedException
      Sets initial z-x cross coupling error.
      Specified by:
      setInitialMzx in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMzx - initial z-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzy

      public double getInitialMzy()
      Gets initial z-y cross coupling error.
      Specified by:
      getInitialMzy in interface GyroscopeNonLinearCalibrator
      Returns:
      initial z-y cross coupling error.

    • setInitialMzy

      public void setInitialMzy(double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial z-y cross coupling error.
      Specified by:
      setInitialMzy in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMzy - initial z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialScalingFactors

      public void setInitialScalingFactors(double initialSx, double initialSy, double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial scaling factors.
      Specified by:
      setInitialScalingFactors in interface GyroscopeNonLinearCalibrator
      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

      public void setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial cross coupling errors.
      Specified by:
      setInitialCrossCouplingErrors in interface GyroscopeNonLinearCalibrator
      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

      public 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.
      Specified by:
      setInitialScalingFactorsAndCrossCouplingErrors in interface GyroscopeNonLinearCalibrator
      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

      public com.irurueta.algebra.Matrix getInitialMg()
      Gets initial scale factors and cross coupling errors matrix.
      Specified by:
      getInitialMg in interface GyroscopeNonLinearCalibrator
      Returns:
      initial scale factors and cross coupling errors matrix.

    • getInitialMg

      public void getInitialMg(com.irurueta.algebra.Matrix result)
      Gets initial scale factors and cross coupling errors matrix.
      Specified by:
      getInitialMg in interface GyroscopeNonLinearCalibrator
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • setInitialMg

      public void setInitialMg(com.irurueta.algebra.Matrix initialMg) throws com.irurueta.navigation.LockedException
      Sets initial scale factors and cross coupling errors matrix.
      Specified by:
      setInitialMg in interface GyroscopeNonLinearCalibrator
      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

      public com.irurueta.algebra.Matrix getInitialGg()
      Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
      Specified by:
      getInitialGg in interface GyroscopeNonLinearCalibrator
      Returns:
      a 3x3 matrix containing initial g-dependent cross biases.

    • getInitialGg

      public 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.
      Specified by:
      getInitialGg in interface GyroscopeNonLinearCalibrator
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • setInitialGg

      public 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.
      Specified by:
      setInitialGg in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialGg - g-dependent cross biases.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x3.

    • getMeasurements

      public Collection<StandardDeviationFrameBodyKinematics> 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 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.
      Specified by:
      getMeasurements in interface KnownBiasAndFrameGyroscopeCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener>
      Specified by:
      getMeasurements in interface UnorderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator
      Returns:
      a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

    • setMeasurements

      public void setMeasurements(Collection<? extends StandardDeviationFrameBodyKinematics> 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.
      Specified by:
      setMeasurements in interface KnownBiasAndFrameGyroscopeCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener>
      Specified by:
      setMeasurements in interface UnorderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator
      Parameters:
      measurements - collection of body kinematics measurements taken at different frames (positions, orientations and velocities).
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurementOrSequenceType

      public GyroscopeCalibratorMeasurementOrSequenceType getMeasurementOrSequenceType()
      Indicates the type of measurement or sequence used by this calibrator.
      Specified by:
      getMeasurementOrSequenceType in interface GyroscopeCalibrator
      Returns:
      type of measurement or sequence used by this calibrator.

    • isOrderedMeasurementsOrSequencesRequired

      public boolean isOrderedMeasurementsOrSequencesRequired()
      Indicates whether this calibrator requires ordered measurements or sequences in a list or not.
      Specified by:
      isOrderedMeasurementsOrSequencesRequired in interface GyroscopeCalibrator
      Returns:
      true if measurements or sequences must be ordered, false otherwise.

    • isQualityScoresRequired

      public boolean isQualityScoresRequired()
      Indicates whether this calibrator requires quality scores for each measurement/sequence or not.
      Specified by:
      isQualityScoresRequired in interface GyroscopeCalibrator
      Returns:
      true if quality scores are required, false otherwise.

    • isCommonAxisUsed

      public boolean isCommonAxisUsed()
      Indicates whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Mg matrix.
      Specified by:
      isCommonAxisUsed in interface GyroscopeCalibrator
      Returns:
      true if z-axis is assumed to be common for accelerometer and gyroscope, false otherwise.

    • setCommonAxisUsed

      public void setCommonAxisUsed(boolean commonAxisUsed) throws com.irurueta.navigation.LockedException
      Specifies whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Mg matrix.
      Specified by:
      setCommonAxisUsed in interface GyroscopeCalibrator
      Parameters:
      commonAxisUsed - true if z-axis is assumed to be common for accelerometer and gyroscope, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getListener

      public KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener getListener()
      Gets listener to handle events raised by this calibrator.
      Specified by:
      getListener in interface KnownBiasAndFrameGyroscopeCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener>
      Returns:
      listener to handle events raised by this calibrator.

    • setListener

      public void setListener(KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener listener) throws com.irurueta.navigation.LockedException
      Sets listener to handle events raised by this calibrator.
      Specified by:
      setListener in interface KnownBiasAndFrameGyroscopeCalibrator<StandardDeviationFrameBodyKinematics,KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibratorListener>
      Parameters:
      listener - listener to handle events raised by this calibrator.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasX

      public double getBiasX()
      Gets known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      Specified by:
      getBiasX in interface KnownBiasGyroscopeCalibrator
      Returns:
      x coordinate of gyroscope bias.

    • setBiasX

      public void setBiasX(double biasX) throws com.irurueta.navigation.LockedException
      Sets known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      Specified by:
      setBiasX in interface KnownBiasGyroscopeCalibrator
      Parameters:
      biasX - x coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasY

      public double getBiasY()
      Gets known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      Specified by:
      getBiasY in interface KnownBiasGyroscopeCalibrator
      Returns:
      y coordinate of gyroscope bias.

    • setBiasY

      public void setBiasY(double biasY) throws com.irurueta.navigation.LockedException
      Sets known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      Specified by:
      setBiasY in interface KnownBiasGyroscopeCalibrator
      Parameters:
      biasY - y coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasZ

      public double getBiasZ()
      Gets known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      Specified by:
      getBiasZ in interface KnownBiasGyroscopeCalibrator
      Returns:
      z coordinate of gyroscope bias.

    • setBiasZ

      public void setBiasZ(double biasZ) throws com.irurueta.navigation.LockedException
      Sets known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      Specified by:
      setBiasZ in interface KnownBiasGyroscopeCalibrator
      Parameters:
      biasZ - z coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasAngularSpeedX

      public com.irurueta.units.AngularSpeed getBiasAngularSpeedX()
      Gets known x coordinate of gyroscope bias.
      Specified by:
      getBiasAngularSpeedX in interface KnownBiasGyroscopeCalibrator
      Returns:
      x coordinate of gyroscope bias.

    • getBiasAngularSpeedX

      public void getBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)
      Gets known x coordinate of gyroscope bias.
      Specified by:
      getBiasAngularSpeedX in interface KnownBiasGyroscopeCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setBiasX

      public void setBiasX(com.irurueta.units.AngularSpeed biasX) throws com.irurueta.navigation.LockedException
      Sets known x coordinate of gyroscope bias.
      Specified by:
      setBiasX in interface KnownBiasGyroscopeCalibrator
      Parameters:
      biasX - x coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasAngularSpeedY

      public com.irurueta.units.AngularSpeed getBiasAngularSpeedY()
      Gets known y coordinate of gyroscope bias.
      Specified by:
      getBiasAngularSpeedY in interface KnownBiasGyroscopeCalibrator
      Returns:
      y coordinate of gyroscope bias.

    • getBiasAngularSpeedY

      public void getBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)
      Gets known y coordinate of gyroscope bias.
      Specified by:
      getBiasAngularSpeedY in interface KnownBiasGyroscopeCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setBiasY

      public void setBiasY(com.irurueta.units.AngularSpeed biasY) throws com.irurueta.navigation.LockedException
      Sets known y coordinate of gyroscope bias.
      Specified by:
      setBiasY in interface KnownBiasGyroscopeCalibrator
      Parameters:
      biasY - y coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasAngularSpeedZ

      public com.irurueta.units.AngularSpeed getBiasAngularSpeedZ()
      Gets known z coordinate of gyroscope bias.
      Specified by:
      getBiasAngularSpeedZ in interface KnownBiasGyroscopeCalibrator
      Returns:
      z coordinate of gyroscope bias.

    • getBiasAngularSpeedZ

      public void getBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)
      Gets known z coordinate of gyroscope bias.
      Specified by:
      getBiasAngularSpeedZ in interface KnownBiasGyroscopeCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setBiasZ

      public void setBiasZ(com.irurueta.units.AngularSpeed biasZ) throws com.irurueta.navigation.LockedException
      Sets known z coordinate of gyroscope bias.
      Specified by:
      setBiasZ in interface KnownBiasGyroscopeCalibrator
      Parameters:
      biasZ - z coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setBiasCoordinates

      public void setBiasCoordinates(double biasX, double biasY, double biasZ) throws com.irurueta.navigation.LockedException
      Sets known gyroscope bias coordinates expressed in radians per second (rad/s).
      Specified by:
      setBiasCoordinates in interface KnownBiasGyroscopeCalibrator
      Parameters:
      biasX - x coordinate of gyroscope bias.
      biasY - y coordinate of gyroscope bias.
      biasZ - z coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setBiasCoordinates

      public void setBiasCoordinates(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ) throws com.irurueta.navigation.LockedException
      Sets known gyroscope bias coordinates.
      Specified by:
      setBiasCoordinates in interface KnownBiasGyroscopeCalibrator
      Parameters:
      biasX - x coordinate of gyroscope bias.
      biasY - y coordinate of gyroscope bias.
      biasZ - z coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasAsTriad

      public AngularSpeedTriad getBiasAsTriad()
      Gets known gyroscope bias.
      Returns:
      known gyroscope bias.

    • getBiasAsTriad

      public void getBiasAsTriad(AngularSpeedTriad result)
      Gets known gyroscope bias.
      Parameters:
      result - instance where result will be stored.

    • setBias

      public void setBias(AngularSpeedTriad bias) throws com.irurueta.navigation.LockedException
      Sets known gyroscope bias.
      Parameters:
      bias - gyroscope bias to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBias

      public double[] getBias()
      Gets known gyroscope bias as an array. Array values are expressed in radians per second (rad/s).
      Specified by:
      getBias in interface KnownBiasGyroscopeCalibrator
      Returns:
      array containing coordinate of known bias.

    • getBias

      public void getBias(double[] result)
      Gets known gyroscope bias as an array. Array values are expressed in radians per second (rad/s).
      Specified by:
      getBias in interface KnownBiasGyroscopeCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setBias

      public void setBias(double[] bias) throws com.irurueta.navigation.LockedException
      Sets known gyroscope bias as an array. Array values are expressed in radians per second (rad/s).
      Specified by:
      setBias in interface KnownBiasGyroscopeCalibrator
      Parameters:
      bias - known gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getBiasAsMatrix

      public com.irurueta.algebra.Matrix getBiasAsMatrix()
      Gets known gyroscope bias as a column matrix.
      Specified by:
      getBiasAsMatrix in interface KnownBiasGyroscopeCalibrator
      Returns:
      known gyroscope bias as a column matrix.

    • getBiasAsMatrix

      public void getBiasAsMatrix(com.irurueta.algebra.Matrix result)
      Gets known gyroscope bias as a column matrix.
      Specified by:
      getBiasAsMatrix in interface KnownBiasGyroscopeCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • setBias

      public void setBias(com.irurueta.algebra.Matrix bias) throws com.irurueta.navigation.LockedException
      Sets known gyroscope bias as a column matrix.
      Specified by:
      setBias in interface KnownBiasGyroscopeCalibrator
      Parameters:
      bias - gyroscope bias to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x1.

    • getMinimumRequiredMeasurementsOrSequences

      public int getMinimumRequiredMeasurementsOrSequences()
      Gets minimum number of required measurements.
      Specified by:
      getMinimumRequiredMeasurementsOrSequences in interface GyroscopeCalibrator
      Returns:
      minimum number of required measurements.

    • isReady

      public boolean isReady()
      Indicates whether calibrator is ready to start the calibration.
      Specified by:
      isReady in interface GyroscopeCalibrator
      Returns:
      true if calibrator is ready, false otherwise.

    • isRunning

      public boolean isRunning()
      Indicates whether calibrator is currently running or not.
      Specified by:
      isRunning in interface GyroscopeCalibrator
      Returns:
      true if calibrator is running, false otherwise.

    • calibrate

      public void calibrate() throws com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException
      Estimates gyroscope calibration parameters containing bias, scale factors, cross-coupling errors and g-dependant cross biases.
      Specified by:
      calibrate in interface GyroscopeCalibrator
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      com.irurueta.navigation.NotReadyException - if calibrator is not ready.
      CalibrationException - if calibration fails for numerical reasons.

    • getEstimatedMg

      public com.irurueta.algebra.Matrix getEstimatedMg()
      Gets estimated gyroscope scale factors and cross coupling errors. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So that: 
           Mg = [sx    mxy  mxz] = Tg*Kg
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Kg = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Tg = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the gyroscope z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix becomes upper diagonal: 
           Mg = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.
      Specified by:
      getEstimatedMg in interface GyroscopeCalibrator
      Returns:
      estimated gyroscope scale factors and cross coupling errors.

    • getEstimatedSx

      public Double getEstimatedSx()
      Gets estimated x-axis scale factor.
      Specified by:
      getEstimatedSx in interface GyroscopeCalibrator
      Returns:
      estimated x-axis scale factor or null if not available.

    • getEstimatedSy

      public Double getEstimatedSy()
      Gets estimated y-axis scale factor.
      Specified by:
      getEstimatedSy in interface GyroscopeCalibrator
      Returns:
      estimated y-axis scale factor or null if not available.

    • getEstimatedSz

      public Double getEstimatedSz()
      Gets estimated z-axis scale factor.
      Specified by:
      getEstimatedSz in interface GyroscopeCalibrator
      Returns:
      estimated z-axis scale factor or null if not available.

    • getEstimatedMxy

      public Double getEstimatedMxy()
      Gets estimated x-y cross-coupling error.
      Specified by:
      getEstimatedMxy in interface GyroscopeCalibrator
      Returns:
      estimated x-y cross-coupling error or null if not available.

    • getEstimatedMxz

      public Double getEstimatedMxz()
      Gets estimated x-z cross-coupling error.
      Specified by:
      getEstimatedMxz in interface GyroscopeCalibrator
      Returns:
      estimated x-z cross-coupling error or null if not available.

    • getEstimatedMyx

      public Double getEstimatedMyx()
      Gets estimated y-x cross-coupling error.
      Specified by:
      getEstimatedMyx in interface GyroscopeCalibrator
      Returns:
      estimated y-x cross-coupling error or null if not available.

    • getEstimatedMyz

      public Double getEstimatedMyz()
      Gets estimated y-z cross-coupling error.
      Specified by:
      getEstimatedMyz in interface GyroscopeCalibrator
      Returns:
      estimated y-z cross-coupling error or null if not available.

    • getEstimatedMzx

      public Double getEstimatedMzx()
      Gets estimated z-x cross-coupling error.
      Specified by:
      getEstimatedMzx in interface GyroscopeCalibrator
      Returns:
      estimated z-x cross-coupling error or null if not available.

    • getEstimatedMzy

      public Double getEstimatedMzy()
      Gets estimated z-y cross-coupling error.
      Specified by:
      getEstimatedMzy in interface GyroscopeCalibrator
      Returns:
      estimated z-y cross-coupling error or null if not available.

    • getEstimatedGg

      public com.irurueta.algebra.Matrix getEstimatedGg()
      Gets estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
      Specified by:
      getEstimatedGg in interface GyroscopeCalibrator
      Returns:
      a 3x3 matrix containing g-dependent cross biases.

    • getEstimatedCovariance

      public com.irurueta.algebra.Matrix getEstimatedCovariance()
      Gets estimated covariance matrix for estimated position. Diagonal elements of the matrix contains variance for the following parameters (following indicated order): sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy, gg11, gg21, gg31, gg12, gg22, gg32, gg13, gg23, gg33.
      Specified by:
      getEstimatedCovariance in interface GyroscopeNonLinearCalibrator
      Returns:
      estimated covariance matrix for estimated position.

    • getEstimatedChiSq

      public double getEstimatedChiSq()
      Gets estimated chi square value.
      Specified by:
      getEstimatedChiSq in interface GyroscopeNonLinearCalibrator
      Returns:
      estimated chi square value.

    • getEstimatedMse

      public double getEstimatedMse()
      Gets estimated mean square error respect to provided measurements.
      Specified by:
      getEstimatedMse in interface GyroscopeNonLinearCalibrator
      Returns:
      estimated mean square error respect to provided measurements.

    • calibrateCommonAxis

      private void calibrateCommonAxis() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException
      Internal method to perform calibration when common z-axis is assumed for both the accelerometer and gyroscope.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical errors.
      com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.
      com.irurueta.numerical.NotReadyException - if fitter is not ready.

    • calibrateGeneral

      private void calibrateGeneral() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException
      Internal method to perform general calibration.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical errors.
      com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.
      com.irurueta.numerical.NotReadyException - if fitter is not ready.

    • setInputData

      private void setInputData() throws com.irurueta.algebra.WrongSizeException
      Sets input data into Levenberg-Marquardt fitter.
      Throws:
      com.irurueta.algebra.WrongSizeException - never happens.

    • convertAngularSpeed

      private static double convertAngularSpeed(double value, com.irurueta.units.AngularSpeedUnit unit)
      Converts angular speed instance to radians per second (rad/s).
      Parameters:
      value - angular speed value.
      unit - unit of angular speed value.
      Returns:
      converted value.

    • convertAngularSpeed

      private static double convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)
      Converts angular speed instance to radians per second (rad/s).
      Parameters:
      angularSpeed - angular speed instance to be converted.
      Returns:
      converted value.