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

Class KnownBiasEasyGyroscopeCalibrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.gyroscope.KnownBiasEasyGyroscopeCalibrator

All Implemented Interfaces:

AccelerometerDependentGyroscopeCalibrator, GyroscopeCalibrator, GyroscopeNonLinearCalibrator, KnownBiasGyroscopeCalibrator, OrderedBodyKinematicsSequenceGyroscopeCalibrator

public class KnownBiasEasyGyroscopeCalibrator
extends Object
implements GyroscopeNonLinearCalibrator, KnownBiasGyroscopeCalibrator, OrderedBodyKinematicsSequenceGyroscopeCalibrator, AccelerometerDependentGyroscopeCalibrator

Estimates gyroscope cross couplings, scaling factors and G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

This calibrator assumes that the IMU is at a more or less fixed location on Earth, and evaluates sequences of measured body kinematics to perform calibration for unknown orientations on those provided sequences. Each provided sequence will be preceded by a static period where mean specific force will be measured to determine gravity (and hence partial body attitude).

To use this calibrator at least 7 sequences are needed (each containing at least 3 body kinematics measurements) when common z-axis is assumed and G-dependant cross biases are ignored, otherwise at least 10 sequences are required (each containing at least 3 body kinematics measurements) when common z-axis is not assumed. If G-dependent cross biases are being estimated, then at least 16 measurements are needed when common z-axis is assumed, otherwise at least 19 sequences are required (each containing at least 3 body kinematics measurements) when common z-axis is not assumed.

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.

This calibrator is based on the ideas of David Tedaldi, Alberto Pretto, Emmanuelle Menegatti. A Robust and Easy to Implement Method for IMU Calibration without External Equipments.

Field Summary

Fields

Modifier and Type	Field	Description
private final AccelerationFixer	accelerationFixer	Acceleration fixer.
private double	accelerometerBiasX	Known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerBiasY	Known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerBiasZ	Known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMxy	Known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMxz	Know accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMyx	Known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMyz	Known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMzx	Known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMzy	Known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerSx	Known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerSy	Known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerSz	Known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private com.irurueta.algebra.Matrix	b	Internally holds biases during calibration.
private double	biasX	X-coordinate of gyroscope known bias expressed in radians per second (rad/s).
private double	biasY	Y-coordinate of gyroscope known bias expressed in radians per second (rad/s).
private double	biasZ	Z-coordinate of gyroscope known bias expressed in radians per second (rad/s).
static final int	COMMON_Z_AXIS_UNKNOWNS	Number of unknowns when common z-axis is assumed for both the accelerometer and gyroscope when G-dependent cross biases are not being estimated.
static final int	COMMON_Z_AXIS_UNKNOWNS_AND_CROSS_BIASES	Number of unknowns when common z-axis is assumed for both the accelerometer and gyroscope when G-dependent cross biases are being estimated.
private boolean	commonAxisUsed	This flag indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
static final boolean	DEFAULT_ESTIMATE_G_DEPENDENT_CROSS_BIASES	Indicates that by default G-dependent cross biases introduced by the accelerometer on the gyroscope are estimated.
static final boolean	DEFAULT_USE_COMMON_Z_AXIS	Indicates whether by default a common z-axis is assumed for both the accelerometer and gyroscope.
private final com.irurueta.geometry.InhomogeneousPoint3D	endPoint	Holds normalized gravity versor at the end of a sequence.
private double	estimatedChiSq	Estimated chi square value.
private com.irurueta.algebra.Matrix	estimatedCovariance	Estimated covariance matrix for estimated parameters.
private com.irurueta.algebra.Matrix	estimatedGg	Estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
private com.irurueta.algebra.Matrix	estimatedMg	Estimated gyroscope scale factors and cross coupling errors.
private double	estimatedMse	Estimated mean square error respect to provided measurements.
private boolean	estimateGDependentCrossBiases	This flag indicates whether G-dependent cross biases are being estimated or not.
private final com.irurueta.geometry.InhomogeneousPoint3D	expectedEndPoint	Contains expected gravity versor obtained from measurements fixed using known accelerometer parameters.
private final com.irurueta.numerical.fitting.LevenbergMarquardtMultiDimensionFitter	fitter	Levenberg-Marquardt fitter to find a non-linear solution.
private List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>>	fixedSequences	Contains a copy of input sequences where fixed body kinematics will be updated.
private com.irurueta.algebra.Matrix	g	Internally hold g-dependent cross biases during calibration.
static final int	GENERAL_UNKNOWNS	Number of unknowns for the general case when G-dependent cross biases are not being estimated.
static final int	GENERAL_UNKNOWNS_AND_CROSS_BIASES	Number of unknowns for the general case when G-dependent cross biases are being estimated.
private int	index	Index of current point being evaluated.
private com.irurueta.algebra.Matrix	initialGg	Initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
private double	initialMxy	Initial gyroscope x-y cross coupling error.
private double	initialMxz	Initial gyroscope x-z cross coupling error.
private double	initialMyx	Initial gyroscope y-x cross coupling error.
private double	initialMyz	Initial gyroscope y-z cross coupling error.
private double	initialMzx	Initial gyroscope z-x cross coupling error.
private double	initialMzy	Initial gyroscope z-y cross coupling error.
private double	initialSx	Initial gyroscope x scaling factor.
private double	initialSy	Initial gyroscope y scaling factor.
private double	initialSz	Initial gyroscope z scaling factor.
private com.irurueta.algebra.Matrix	invM	Internally holds inverse of cross-coupling errors during calibration.
private KnownBiasEasyGyroscopeCalibratorListener	listener	Listener to handle events raised by this calibrator.
private com.irurueta.algebra.Matrix	m	Internally holds cross-coupling errors during calibration.
private com.irurueta.algebra.Matrix	measuredAngularRate	Contains measured angular rate on a sample within a sequence expressed as a 3x1 matrix.
private com.irurueta.algebra.Matrix	measuredSpecificForce	Contains measured specific force on a sample within a sequence expressed as a 3x1 matrix.
static final int	MINIMUM_SEQUENCES_COMMON_Z_AXIS	Required minimum number of sequences when common z-axis is assumed and G-dependent cross biases are being ignored.
static final int	MINIMUM_SEQUENCES_COMMON_Z_AXIS_AND_CROSS_BIASES	Required minimum number of sequences when common z-axis is assumed and G-dependent cross biases are being estimated.
static final int	MINIMUM_SEQUENCES_GENERAL	Required minimum number of sequences for the general case and G-dependent cross biases are being ignored.
static final int	MINIMUM_SEQUENCES_GENERAL_AND_CROSS_BIASES	Required minimum number of sequences for the general case and G-dependent cross biases are being estimated.
private double[]	point	Array containing normalized gravity versor before (former 3 values) and after (latter 3 values) a given sequence.
private final com.irurueta.geometry.Quaternion	q	Holds integrated rotation of a sequence.
private boolean	running	Indicates whether calibrator is running.
private List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>>	sequences	Contains a collection of sequences of timestamped body kinematics measurements taken at a given position where the device moves freely with different orientations.
private final com.irurueta.geometry.InhomogeneousPoint3D	startPoint	Holds normalized gravity versor at the start of a sequence.
private com.irurueta.algebra.Matrix	tmp	Internally holds angular rate bias due to g-dependent cross biases
private com.irurueta.algebra.Matrix	trueAngularRate	Contains fixed specific force for a sample within a sequence using current parameters being estimated.
private com.irurueta.algebra.Matrix	trueSpecificForce	Contains fixed specific force for a sample within a sequence using provided accelerometer parameters and expressed as a 3x1 matrix.

Constructor Summary

Constructors

Constructor	Description
KnownBiasEasyGyroscopeCalibrator()	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasEasyGyroscopeCalibratorListener listener)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasEasyGyroscopeCalibratorListener listener)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasEasyGyroscopeCalibratorListener listener)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasEasyGyroscopeCalibratorListener listener)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasEasyGyroscopeCalibratorListener listener)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasEasyGyroscopeCalibratorListener listener)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasEasyGyroscopeCalibratorListener listener)	Constructor.
KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasEasyGyroscopeCalibratorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	calibrate()	Estimates gyroscope calibration parameters containing scale factors, cross-coupling errors and G-dependent coupling.
private void	calibrateCommonAxis()	Internal method to perform calibration when common z-axis is assumed for both the accelerometer and gyroscope and G-dependent cross biases are ignored.
private void	calibrateCommonAxisAndGDependentCrossBiases()	Internal method to perform calibration when common z-axis is assumed for both the accelerometer and gyroscope and when G-dependent cross biases are being estimated.
private void	calibrateGeneral()	Internal method to perform general calibration when G-dependant cross biases are ignored.
private void	calibrateGeneralAndGDependentCrossBiases()	Internal method to perform general calibration when G-dependent cross biases are being estimated.
private static double	computeAverageAngularRateStandardDeviation(BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence)	Computes average angular rate standard deviation for measurements in provided sequence.
private static double	convertAcceleration(com.irurueta.units.Acceleration acceleration)	Converts acceleration instance to meters per squared second.
private static double	convertAngularSpeed(double value, com.irurueta.units.AngularSpeedUnit unit)	Converts angular speed instance to radians per second (rad/s).
private static double	convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)	Converts angular speed instance to radians per second (rad/s).
private double	evaluate(int i, double m11, double m21, double m31, double m12, double m22, double m32, double m13, double m23, double m33, double g11, double g21, double g31, double g12, double g22, double g32, double g13, double g23, double g33)	Computes gravity versor error at the end of a sequence using provided parameters.
private double	evaluateCommonAxis(int i, double[] params)	Computes gravity versor error at the end of a sequence using provided parameters.
private double	evaluateCommonAxisWithGDependentCrossBiases(int i, double[] params)	Computes gravity versor error at the end of a sequence using provided parameters.
private double	evaluateGeneral(int i, double[] params)	Computes gravity versor error at the end of a sequence using provided parameters.
private double	evaluateGeneralWithGDependentCrossBiases(int i, double[] params)	Computes gravity versor error at the end of a sequence using provided parameters.
private void	fixKinematics(BodyKinematics kinematics, BodyKinematics result)	Fixes provided kinematics with provided accelerometer parameters and current gyroscope parameters.
double[]	getAccelerometerBias()	Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	getAccelerometerBias(double[] result)	Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
com.irurueta.algebra.Matrix	getAccelerometerBiasAsMatrix()	Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	getAccelerometerBiasAsMatrix(com.irurueta.algebra.Matrix result)	Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerBiasX()	Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
com.irurueta.units.Acceleration	getAccelerometerBiasXAsAcceleration()	Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	getAccelerometerBiasXAsAcceleration(com.irurueta.units.Acceleration result)	Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerBiasY()	Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
com.irurueta.units.Acceleration	getAccelerometerBiasYAsAcceleration()	Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	getAccelerometerBiasYAsAcceleration(com.irurueta.units.Acceleration result)	Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerBiasZ()	Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
com.irurueta.units.Acceleration	getAccelerometerBiasZAsAcceleration()	Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	getAccelerometerBiasZAsAcceleration(com.irurueta.units.Acceleration result)	Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
com.irurueta.algebra.Matrix	getAccelerometerMa()	Gets known accelerometer scale factors and cross coupling errors matrix.
void	getAccelerometerMa(com.irurueta.algebra.Matrix result)	Gets known accelerometer scale factors and cross coupling errors matrix.
double	getAccelerometerMxy()	Gets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerMxz()	Gets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerMyx()	Gets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerMyz()	Gets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerMzx()	Gets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerMzy()	Gets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerSx()	Gets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerSy()	Gets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerSz()	Gets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double[]	getBias()	Gets gyroscope known bias as an array.
void	getBias(double[] result)	Gets gyroscope known bias as an array.
com.irurueta.units.AngularSpeed	getBiasAngularSpeedX()	Gets x-coordinate of gyroscope known bias.
void	getBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)	Gets x-coordinate of gyroscope known bias.
com.irurueta.units.AngularSpeed	getBiasAngularSpeedY()	Gets y-coordinate of gyroscope known bias.
void	getBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)	Gets y-coordinate of gyroscope known bias.
com.irurueta.units.AngularSpeed	getBiasAngularSpeedZ()	Gets z-coordinate of gyroscope known bias.
void	getBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)	Gets z-coordinate of gyroscope known bias.
com.irurueta.algebra.Matrix	getBiasAsMatrix()	Gets gyroscope known bias as a column matrix.
void	getBiasAsMatrix(com.irurueta.algebra.Matrix result)	Gets gyroscope known bias as a column matrix.
AngularSpeedTriad	getBiasAsTriad()	Gets known gyroscope bias.
void	getBiasAsTriad(AngularSpeedTriad result)	Gets known gyroscope bias.
double	getBiasX()	Gets x-coordinate of gyroscope known bias.
double	getBiasY()	Gets y-coordinate of gyroscope known bias.
double	getBiasZ()	Gets z-coordinate of gyroscope known bias.
double	getEstimatedChiSq()	Gets estimated chi square value.
com.irurueta.algebra.Matrix	getEstimatedCovariance()	Gets estimated covariance matrix for estimated parameters.
com.irurueta.algebra.Matrix	getEstimatedGg()	Gets estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
com.irurueta.algebra.Matrix	getEstimatedMg()	Gets estimated gyroscope scale factors and cross coupling errors.
double	getEstimatedMse()	Gets estimated mean square error respect to provided measurements.
Double	getEstimatedMxy()	Gets estimated gyroscope x-y cross-coupling error.
Double	getEstimatedMxz()	Gets estimated gyroscope x-z cross-coupling error.
Double	getEstimatedMyx()	Gets estimated gyroscope y-x cross-coupling error.
Double	getEstimatedMyz()	Gets estimated gyroscope y-z cross-coupling error.
Double	getEstimatedMzx()	Gets estimated gyroscope z-x cross-coupling error.
Double	getEstimatedMzy()	Gets estimated gyroscope z-y cross-coupling error.
Double	getEstimatedSx()	Gets estimated gyroscope x-axis scale factor.
Double	getEstimatedSy()	Gets estimated gyroscope y-axis scale factor.
Double	getEstimatedSz()	Gets estimated gyroscope z-axis scale factor.
com.irurueta.algebra.Matrix	getInitialGg()	Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
void	getInitialGg(com.irurueta.algebra.Matrix result)	Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
com.irurueta.algebra.Matrix	getInitialMg()	Gets initial gyroscope scale factors and cross coupling errors matrix.
void	getInitialMg(com.irurueta.algebra.Matrix result)	Gets initial gyroscope scale factors and cross coupling errors matrix.
double	getInitialMxy()	Gets initial x-y cross coupling error of gyroscope.
double	getInitialMxz()	Gets initial x-z cross coupling error of gyroscope.
double	getInitialMyx()	Gets initial y-x cross coupling error of gyroscope.
double	getInitialMyz()	Gets initial y-z cross coupling error of gyroscope.
double	getInitialMzx()	Gets initial z-x cross coupling error of gyroscope.
double	getInitialMzy()	Gets initial z-y cross coupling error of gyroscope.
double	getInitialSx()	Gets initial x scaling factor of gyroscope.
double	getInitialSy()	Gets initial y scaling factor of gyroscope.
double	getInitialSz()	Gets initial z scaling factor of gyroscope.
KnownBiasEasyGyroscopeCalibratorListener	getListener()	Gets listener to handle events raised by this estimator.
GyroscopeCalibratorMeasurementOrSequenceType	getMeasurementOrSequenceType()	Indicates the type of measurement or sequence used by this calibrator.
int	getMinimumRequiredMeasurementsOrSequences()	Gets minimum number of required sequences.
List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>>	getSequences()	Gets collection of sequences of timestamped body kinematics measurements taken at a given position where the device moves freely with different orientations.
boolean	isCommonAxisUsed()	Indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
boolean	isGDependentCrossBiasesEstimated()	Indicates whether G-dependent cross biases are being estimated or not.
boolean	isOrderedMeasurementsOrSequencesRequired()	Indicates whether this calibrator requires ordered measurements or sequences in a list or not.
boolean	isQualityScoresRequired()	Indicates whether this calibrator requires quality scores for each measurement/sequence or not.
boolean	isReady()	Indicates whether calibrator is ready to start.
boolean	isRunning()	Indicates whether calibrator is currently running or not.
private void	reset()	Resets any previous estimations.
void	setAccelerometerBias(double[] accelerometerBias)	Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBias(double accelerometerBiasX, double accelerometerBiasY, double accelerometerBiasZ)	Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBias(com.irurueta.algebra.Matrix accelerometerBias)	Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBias(com.irurueta.units.Acceleration accelerometerBiasX, com.irurueta.units.Acceleration accelerometerBiasY, com.irurueta.units.Acceleration accelerometerBiasZ)	Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasX(double accelerometerBiasX)	Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasX(com.irurueta.units.Acceleration accelerometerBiasX)	Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasY(double accelerometerBiasY)	Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasY(com.irurueta.units.Acceleration accelerometerBiasY)	Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasZ(double accelerometerBiasZ)	Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasZ(com.irurueta.units.Acceleration accelerometerBiasZ)	Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerCrossCouplingErrors(double accelerometerMxy, double accelerometerMxz, double accelerometerMyx, double accelerometerMyz, double accelerometerMzx, double accelerometerMzy)	Sets known accelerometer cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMa(com.irurueta.algebra.Matrix accelerometerMa)	Sets known accelerometer scale factors and cross coupling errors matrix.
void	setAccelerometerMxy(double accelerometerMxy)	Sets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMxz(double accelerometerMxz)	Sets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMyx(double accelerometerMyx)	Sets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMyz(double accelerometerMyz)	Sets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMzx(double accelerometerMzx)	Sets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMzy(double accelerometerMzy)	Sets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerScalingFactors(double accelerometerSx, double accelerometerSy, double accelerometerSz)	Sets known accelerometer scaling factors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerScalingFactorsAndCrossCouplingErrors(double accelerometerSx, double accelerometerSy, double accelerometerSz, double accelerometerMxy, double accelerometerMxz, double accelerometerMyx, double accelerometerMyz, double accelerometerMzx, double accelerometerMzy)	Sets known accelerometer scaling factors and cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerSx(double accelerometerSx)	Sets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerSy(double accelerometerSy)	Sets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerSz(double accelerometerSz)	Sets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setBias(double[] bias)	Sets gyroscope known bias to be used to find a solution as an array.
void	setBias(com.irurueta.algebra.Matrix bias)	Sets gyroscope known bias as a column matrix.
void	setBias(AngularSpeedTriad bias)	Sets known gyroscope bias.
void	setBiasCoordinates(double biasX, double biasY, double biasZ)	Sets known bias coordinates of gyroscope expressed in radians per second (rad/s).
void	setBiasCoordinates(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)	Sets known bias coordinates of gyroscope.
void	setBiasX(double biasX)	Sets x-coordinate of gyroscope known bias.
void	setBiasX(com.irurueta.units.AngularSpeed biasX)	Sets x-coordinate of gyroscope known bias.
void	setBiasY(double biasY)	Sets y-coordinate of gyroscope known bias.
void	setBiasY(com.irurueta.units.AngularSpeed biasY)	Sets y-coordinate of gyroscope known bias.
void	setBiasZ(double biasZ)	Sets z-coordinate of gyroscope known bias.
void	setBiasZ(com.irurueta.units.AngularSpeed biasZ)	Sets z-coordinate of gyroscope known bias.
void	setCommonAxisUsed(boolean commonAxisUsed)	Specifies whether z-axis is assumed to be common for accelerometer and gyroscope.
void	setGDependentCrossBiasesEstimated(boolean estimateGDependentCrossBiases)	Specifies whether G-dependent cross biases are being estimated or not.
void	setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial cross coupling errors of gyroscope.
void	setInitialGg(com.irurueta.algebra.Matrix initialGg)	Sets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
void	setInitialMg(com.irurueta.algebra.Matrix initialMg)	Sets initial gyroscope scale factors and cross coupling errors matrix.
void	setInitialMxy(double initialMxy)	Sets initial x-y cross coupling error of gyroscope.
void	setInitialMxz(double initialMxz)	Sets initial x-z cross coupling error of gyroscope.
void	setInitialMyx(double initialMyx)	Sets initial y-x cross coupling error of gyroscope.
void	setInitialMyz(double initialMyz)	Sets initial y-z cross coupling error of gyroscope.
void	setInitialMzx(double initialMzx)	Sets initial z-x cross coupling error of gyroscope.
void	setInitialMzy(double initialMzy)	Sets initial z-y cross coupling error of gyroscope.
void	setInitialScalingFactors(double initialSx, double initialSy, double initialSz)	Sets initial scaling factors of gyroscope.
void	setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial scaling factors and cross coupling errors of gyroscope.
void	setInitialSx(double initialSx)	Sets initial x scaling factor of gyroscope.
void	setInitialSy(double initialSy)	Sets initial y scaling factor of gyroscope.
void	setInitialSz(double initialSz)	Sets initial z scaling factor of gyroscope.
private void	setInputData()	Sets input data into Levenberg-Marquardt fitter.
void	setListener(KnownBiasEasyGyroscopeCalibratorListener listener)	Sets listener to handle events raised by this estimator.
private void	setResult(com.irurueta.algebra.Matrix m)	Makes proper conversion of internal cross-coupling and bias matrices.
private void	setResult(com.irurueta.algebra.Matrix m, com.irurueta.algebra.Matrix g)	Makes proper conversion of internal cross-coupling, bias and g-dependent cross bias matrices.
void	setSequences(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences)	Sets collection of sequences of timestamped body kinematics measurements taken at a given position where the device moves freely with different orientations.

Methods inherited from class java.lang.Object

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

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:

• Constant Field Values

DEFAULT_ESTIMATE_G_DEPENDENT_CROSS_BIASES

public static final boolean DEFAULT_ESTIMATE_G_DEPENDENT_CROSS_BIASES

Indicates that by default G-dependent cross biases introduced by the accelerometer on the gyroscope are estimated.

See Also:

• Constant Field Values

COMMON_Z_AXIS_UNKNOWNS_AND_CROSS_BIASES

public static final int COMMON_Z_AXIS_UNKNOWNS_AND_CROSS_BIASES

Number of unknowns when common z-axis is assumed for both the accelerometer and gyroscope when G-dependent cross biases are being estimated.

See Also:

• Constant Field Values

GENERAL_UNKNOWNS_AND_CROSS_BIASES

public static final int GENERAL_UNKNOWNS_AND_CROSS_BIASES

Number of unknowns for the general case when G-dependent cross biases are being estimated.

See Also:

• Constant Field Values

COMMON_Z_AXIS_UNKNOWNS

public static final int COMMON_Z_AXIS_UNKNOWNS

Number of unknowns when common z-axis is assumed for both the accelerometer and gyroscope when G-dependent cross biases are not being estimated.

See Also:

• Constant Field Values

GENERAL_UNKNOWNS

public static final int GENERAL_UNKNOWNS

Number of unknowns for the general case when G-dependent cross biases are not being estimated.

See Also:

• Constant Field Values

MINIMUM_SEQUENCES_COMMON_Z_AXIS_AND_CROSS_BIASES

public static final int MINIMUM_SEQUENCES_COMMON_Z_AXIS_AND_CROSS_BIASES

Required minimum number of sequences when common z-axis is assumed and G-dependent cross biases are being estimated.

See Also:

• Constant Field Values

MINIMUM_SEQUENCES_GENERAL_AND_CROSS_BIASES

public static final int MINIMUM_SEQUENCES_GENERAL_AND_CROSS_BIASES

Required minimum number of sequences for the general case and G-dependent cross biases are being estimated.

See Also:

• Constant Field Values

MINIMUM_SEQUENCES_COMMON_Z_AXIS

public static final int MINIMUM_SEQUENCES_COMMON_Z_AXIS

Required minimum number of sequences when common z-axis is assumed and G-dependent cross biases are being ignored.

See Also:

• Constant Field Values

MINIMUM_SEQUENCES_GENERAL

public static final int MINIMUM_SEQUENCES_GENERAL

Required minimum number of sequences for the general case and G-dependent cross biases are being ignored.

See Also:

• Constant Field Values

fitter

private final com.irurueta.numerical.fitting.LevenbergMarquardtMultiDimensionFitter fitter

Levenberg-Marquardt fitter to find a non-linear solution.

accelerometerBiasX

private double accelerometerBiasX

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

accelerometerBiasY

private double accelerometerBiasY

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

accelerometerBiasZ

private double accelerometerBiasZ

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

accelerometerSx

private double accelerometerSx

Known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerSy

private double accelerometerSy

Known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerSz

private double accelerometerSz

Known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMxy

private double accelerometerMxy

Known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMxz

private double accelerometerMxz

Know accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMyx

private double accelerometerMyx

Known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMyz

private double accelerometerMyz

Known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMzx

private double accelerometerMzx

Known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMzy

private double accelerometerMzy

Known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

biasX

private double biasX

X-coordinate of gyroscope known bias expressed in radians per second (rad/s).

biasY

private double biasY

Y-coordinate of gyroscope known bias expressed in radians per second (rad/s).

biasZ

private double biasZ

Z-coordinate of gyroscope known bias expressed in radians per second (rad/s).

initialSx

private double initialSx

Initial gyroscope x scaling factor.

initialSy

private double initialSy

Initial gyroscope y scaling factor.

initialSz

private double initialSz

Initial gyroscope z scaling factor.

initialMxy

private double initialMxy

Initial gyroscope x-y cross coupling error.

initialMxz

private double initialMxz

Initial gyroscope x-z cross coupling error.

initialMyx

private double initialMyx

Initial gyroscope y-x cross coupling error.

initialMyz

private double initialMyz

Initial gyroscope y-z cross coupling error.

initialMzx

private double initialMzx

Initial gyroscope z-x cross coupling error.

initialMzy

private double initialMzy

Initial gyroscope 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.

sequences

private List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences

Contains a collection of sequences of timestamped body kinematics measurements taken at a given position where the device moves freely with different orientations.

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 Mg matrix.

estimateGDependentCrossBiases

private boolean estimateGDependentCrossBiases

This flag indicates whether G-dependent cross biases are being estimated or not. When enabled, this adds 9 variables from Gg matrix.

listener

private KnownBiasEasyGyroscopeCalibratorListener listener

Listener to handle events raised by this calibrator.

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 parameters.

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.

accelerationFixer

private final AccelerationFixer accelerationFixer

Acceleration fixer.

index

private int index

Index of current point being evaluated.

q

private final com.irurueta.geometry.Quaternion q

Holds integrated rotation of a sequence.

fixedSequences

private List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> fixedSequences

Contains a copy of input sequences where fixed body kinematics will be updated.

measuredSpecificForce

private com.irurueta.algebra.Matrix measuredSpecificForce

Contains measured specific force on a sample within a sequence expressed as a 3x1 matrix.

trueSpecificForce

private com.irurueta.algebra.Matrix trueSpecificForce

Contains fixed specific force for a sample within a sequence using provided accelerometer parameters and expressed as a 3x1 matrix.

measuredAngularRate

private com.irurueta.algebra.Matrix measuredAngularRate

Contains measured angular rate on a sample within a sequence expressed as a 3x1 matrix.

trueAngularRate

private com.irurueta.algebra.Matrix trueAngularRate

Contains fixed specific force for a sample within a sequence using current parameters being estimated.

m

private com.irurueta.algebra.Matrix m

Internally holds cross-coupling errors during calibration.

invM

private com.irurueta.algebra.Matrix invM

Internally holds inverse of cross-coupling errors during calibration.

b

private com.irurueta.algebra.Matrix b

Internally holds biases during calibration.

g

private com.irurueta.algebra.Matrix g

Internally hold g-dependent cross biases during calibration.

tmp

private com.irurueta.algebra.Matrix tmp

Internally holds angular rate bias due to g-dependent cross biases

startPoint

private final com.irurueta.geometry.InhomogeneousPoint3D startPoint

Holds normalized gravity versor at the start of a sequence. This is used to compute rotations of gravity versor during calibration.

endPoint

private final com.irurueta.geometry.InhomogeneousPoint3D endPoint

Holds normalized gravity versor at the end of a sequence. This is used to compute rotations of gravity versor during calibration.

expectedEndPoint

private final com.irurueta.geometry.InhomogeneousPoint3D expectedEndPoint

Contains expected gravity versor obtained from measurements fixed using known accelerometer parameters. This is reused for memory efficiency purposes during calibration.

point

private double[] point

Array containing normalized gravity versor before (former 3 values) and after (latter 3 values) a given sequence. This is used during calibration.

Constructor Details

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator()

Constructor.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

bias - gyroscope known bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 KnownBiasEasyGyroscopeCalibratorListener listener)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

bias - gyroscope known bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

bias - gyroscope known bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 KnownBiasEasyGyroscopeCalibratorListener listener)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

bias - gyroscope known bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

bias - gyroscope known bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 KnownBiasEasyGyroscopeCalibratorListener listener)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

bias - gyroscope known bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

bias - gyroscope known bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must be 3x1 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 KnownBiasEasyGyroscopeCalibratorListener listener)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

bias - gyroscope known bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must be 3x1 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - gyroscope known bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 KnownBiasEasyGyroscopeCalibratorListener listener)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - gyroscope known bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - gyroscope known bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 KnownBiasEasyGyroscopeCalibratorListener listener)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - gyroscope known bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - gyroscope known bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 KnownBiasEasyGyroscopeCalibratorListener listener)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - gyroscope known bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - gyroscope known bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

KnownBiasEasyGyroscopeCalibrator

public KnownBiasEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 KnownBiasEasyGyroscopeCalibratorListener listener)

Constructor.

Parameters:

sequences - collection of sequences containing timestamped body kinematics measurements.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - gyroscope known bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size.

Method Details

getAccelerometerBiasX

public double getAccelerometerBiasX()

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

Specified by:

getAccelerometerBiasX in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known x-coordinate of accelerometer bias.

setAccelerometerBiasX

public void setAccelerometerBiasX(double accelerometerBiasX)
                           throws com.irurueta.navigation.LockedException

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

Specified by:

setAccelerometerBiasX in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasX - known x-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBiasY

public double getAccelerometerBiasY()

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

Specified by:

getAccelerometerBiasY in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known y-coordinate of accelerometer bias.

setAccelerometerBiasY

public void setAccelerometerBiasY(double accelerometerBiasY)
                           throws com.irurueta.navigation.LockedException

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

Specified by:

setAccelerometerBiasY in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasY - known y-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBiasZ

public double getAccelerometerBiasZ()

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

Specified by:

getAccelerometerBiasZ in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known z-coordinate of accelerometer bias.

setAccelerometerBiasZ

public void setAccelerometerBiasZ(double accelerometerBiasZ)
                           throws com.irurueta.navigation.LockedException

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

Specified by:

setAccelerometerBiasZ in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasZ - known z-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBiasXAsAcceleration

public com.irurueta.units.Acceleration getAccelerometerBiasXAsAcceleration()

Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasXAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known x-coordinate of accelerometer bias.

getAccelerometerBiasXAsAcceleration

public void getAccelerometerBiasXAsAcceleration(com.irurueta.units.Acceleration result)

Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasXAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setAccelerometerBiasX

public void setAccelerometerBiasX(com.irurueta.units.Acceleration accelerometerBiasX)
                           throws com.irurueta.navigation.LockedException

Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerBiasX in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasX - x-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBiasYAsAcceleration

public com.irurueta.units.Acceleration getAccelerometerBiasYAsAcceleration()

Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasYAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known y-coordinate of accelerometer bias.

getAccelerometerBiasYAsAcceleration

public void getAccelerometerBiasYAsAcceleration(com.irurueta.units.Acceleration result)

Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasYAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setAccelerometerBiasY

public void setAccelerometerBiasY(com.irurueta.units.Acceleration accelerometerBiasY)
                           throws com.irurueta.navigation.LockedException

Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerBiasY in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasY - y-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBiasZAsAcceleration

public com.irurueta.units.Acceleration getAccelerometerBiasZAsAcceleration()

Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasZAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known z-coordinate of accelerometer bias.

getAccelerometerBiasZAsAcceleration

public void getAccelerometerBiasZAsAcceleration(com.irurueta.units.Acceleration result)

Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasZAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setAccelerometerBiasZ

public void setAccelerometerBiasZ(com.irurueta.units.Acceleration accelerometerBiasZ)
                           throws com.irurueta.navigation.LockedException

Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerBiasZ in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasZ - z-coordinate of accelerometer bias.

Throws:

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

setAccelerometerBias

public void setAccelerometerBias(double accelerometerBiasX,
 double accelerometerBiasY,
 double accelerometerBiasZ)
                          throws com.irurueta.navigation.LockedException

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

Specified by:

setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasX - x-coordinate of accelerometer bias.

accelerometerBiasY - y-coordinate of accelerometer bias.

accelerometerBiasZ - z-coordinate of accelerometer bias.

Throws:

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

setAccelerometerBias

public void setAccelerometerBias(com.irurueta.units.Acceleration accelerometerBiasX,
 com.irurueta.units.Acceleration accelerometerBiasY,
 com.irurueta.units.Acceleration accelerometerBiasZ)
                          throws com.irurueta.navigation.LockedException

Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasX - x-coordinate of accelerometer bias.

accelerometerBiasY - y-coordinate of accelerometer bias.

accelerometerBiasZ - z-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBias

public double[] getAccelerometerBias()

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

Specified by:

getAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer bias.

getAccelerometerBias

public void getAccelerometerBias(double[] result)

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

Specified by:

getAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided array does not have length 3.

setAccelerometerBias

public void setAccelerometerBias(double[] accelerometerBias)
                          throws com.irurueta.navigation.LockedException

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

Specified by:

setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBias - known accelerometer bias.

Throws:

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

IllegalArgumentException - if provided array does not have length 3.

getAccelerometerBiasAsMatrix

public com.irurueta.algebra.Matrix getAccelerometerBiasAsMatrix()

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

Specified by:

getAccelerometerBiasAsMatrix in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer bias.

getAccelerometerBiasAsMatrix

public void getAccelerometerBiasAsMatrix(com.irurueta.algebra.Matrix result)

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

Specified by:

getAccelerometerBiasAsMatrix in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

setAccelerometerBias

public void setAccelerometerBias(com.irurueta.algebra.Matrix accelerometerBias)
                          throws com.irurueta.navigation.LockedException

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

Specified by:

setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBias - known accelerometer bias. Must be 3x1.

Throws:

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

IllegalArgumentException - if provided matrix is not 3x1.

getAccelerometerSx

public double getAccelerometerSx()

Gets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerSx in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer x scaling factor.

setAccelerometerSx

public void setAccelerometerSx(double accelerometerSx)
                        throws com.irurueta.navigation.LockedException

Sets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerSx in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerSx - known accelerometer x scaling factor.

Throws:

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

getAccelerometerSy

public double getAccelerometerSy()

Gets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerSy in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer y scaling factor.

setAccelerometerSy

public void setAccelerometerSy(double accelerometerSy)
                        throws com.irurueta.navigation.LockedException

Sets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerSy in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerSy - known accelerometer y scaling factor.

Throws:

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

getAccelerometerSz

public double getAccelerometerSz()

Gets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerSz in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer z scaling factor.

setAccelerometerSz

public void setAccelerometerSz(double accelerometerSz)
                        throws com.irurueta.navigation.LockedException

Sets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerSz in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerSz - known accelerometer z scaling factor.

Throws:

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

getAccelerometerMxy

public double getAccelerometerMxy()

Gets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMxy in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer x-y cross coupling error.

setAccelerometerMxy

public void setAccelerometerMxy(double accelerometerMxy)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMxy in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMxy - known accelerometer x-y cross coupling error.

Throws:

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

getAccelerometerMxz

public double getAccelerometerMxz()

Gets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMxz in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer x-z cross coupling error.

setAccelerometerMxz

public void setAccelerometerMxz(double accelerometerMxz)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMxz in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMxz - known accelerometer x-z cross coupling error.

Throws:

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

getAccelerometerMyx

public double getAccelerometerMyx()

Gets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMyx in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer y-x cross coupling error.

setAccelerometerMyx

public void setAccelerometerMyx(double accelerometerMyx)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMyx in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMyx - known accelerometer y-x cross coupling error.

Throws:

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

getAccelerometerMyz

public double getAccelerometerMyz()

Gets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMyz in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer y-z cross coupling error.

setAccelerometerMyz

public void setAccelerometerMyz(double accelerometerMyz)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMyz in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMyz - known accelerometer y-z cross coupling error.

Throws:

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

getAccelerometerMzx

public double getAccelerometerMzx()

Gets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMzx in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer z-x cross coupling error.

setAccelerometerMzx

public void setAccelerometerMzx(double accelerometerMzx)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMzx in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMzx - known accelerometer z-x cross coupling error.

Throws:

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

getAccelerometerMzy

public double getAccelerometerMzy()

Gets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMzy in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer z-y cross coupling error.

setAccelerometerMzy

public void setAccelerometerMzy(double accelerometerMzy)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMzy in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMzy - known accelerometer z-y cross coupling error.

Throws:

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

setAccelerometerScalingFactors

public void setAccelerometerScalingFactors(double accelerometerSx,
 double accelerometerSy,
 double accelerometerSz)
                                    throws com.irurueta.navigation.LockedException

Sets known accelerometer scaling factors to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerScalingFactors in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerSx - known accelerometer x scaling factor.

accelerometerSy - known accelerometer y scaling factor.

accelerometerSz - known accelerometer z scaling factor.

Throws:

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

setAccelerometerCrossCouplingErrors

public void setAccelerometerCrossCouplingErrors(double accelerometerMxy,
 double accelerometerMxz,
 double accelerometerMyx,
 double accelerometerMyz,
 double accelerometerMzx,
 double accelerometerMzy)
                                         throws com.irurueta.navigation.LockedException

Sets known accelerometer cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerCrossCouplingErrors in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMxy - known accelerometer x-y cross coupling error.

accelerometerMxz - known accelerometer x-z cross coupling error.

accelerometerMyx - known accelerometer y-x cross coupling error.

accelerometerMyz - known accelerometer y-z cross coupling error.

accelerometerMzx - known accelerometer z-x cross coupling error.

accelerometerMzy - known accelerometer z-y cross coupling error.

Throws:

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

setAccelerometerScalingFactorsAndCrossCouplingErrors

public void setAccelerometerScalingFactorsAndCrossCouplingErrors(double accelerometerSx,
 double accelerometerSy,
 double accelerometerSz,
 double accelerometerMxy,
 double accelerometerMxz,
 double accelerometerMyx,
 double accelerometerMyz,
 double accelerometerMzx,
 double accelerometerMzy)
                                                          throws com.irurueta.navigation.LockedException

Sets known accelerometer scaling factors and cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerScalingFactorsAndCrossCouplingErrors in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerSx - known accelerometer x scaling factor.

accelerometerSy - known accelerometer y scaling factor.

accelerometerSz - known accelerometer z scaling factor.

accelerometerMxy - known accelerometer x-y cross coupling error.

accelerometerMxz - known accelerometer x-z cross coupling error.

accelerometerMyx - known accelerometer y-x cross coupling error.

accelerometerMyz - known accelerometer y-z cross coupling error.

accelerometerMzx - known accelerometer z-x cross coupling error.

accelerometerMzy - known accelerometer z-y cross coupling error.

Throws:

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

getAccelerometerMa

public com.irurueta.algebra.Matrix getAccelerometerMa()

Gets known accelerometer scale factors and cross coupling errors matrix.

Specified by:

getAccelerometerMa in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer scale factors and cross coupling errors matrix.

getAccelerometerMa

public void getAccelerometerMa(com.irurueta.algebra.Matrix result)

Gets known accelerometer scale factors and cross coupling errors matrix.

Specified by:

getAccelerometerMa in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where data will be stored.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

setAccelerometerMa

public void setAccelerometerMa(com.irurueta.algebra.Matrix accelerometerMa)
                        throws com.irurueta.navigation.LockedException

Sets known accelerometer scale factors and cross coupling errors matrix.

Specified by:

setAccelerometerMa in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMa - known accelerometer scale factors and cross coupling errors matrix. Must be 3x3.

Throws:

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

IllegalArgumentException - if provided matrix is not 3x3.

getBiasX

public double getBiasX()

Gets x-coordinate of gyroscope known bias. This is expressed in radians per second (rad/s).

Specified by:

getBiasX in interface KnownBiasGyroscopeCalibrator

Returns:

x-coordinate of gyroscope known bias.

setBiasX

public void setBiasX(double biasX)
              throws com.irurueta.navigation.LockedException

Sets x-coordinate of gyroscope known bias. This is expressed in radians per second (rad/s).

Specified by:

setBiasX in interface KnownBiasGyroscopeCalibrator

Parameters:

biasX - x-coordinate of gyroscope known bias.

Throws:

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

getBiasY

public double getBiasY()

Gets y-coordinate of gyroscope known bias. This is expressed in radians per second (rad/s).

Specified by:

getBiasY in interface KnownBiasGyroscopeCalibrator

Returns:

y-coordinate of gyroscope known bias.

setBiasY

public void setBiasY(double biasY)
              throws com.irurueta.navigation.LockedException

Sets y-coordinate of gyroscope known bias. This is expressed in radians per second (rad/s).

Specified by:

setBiasY in interface KnownBiasGyroscopeCalibrator

Parameters:

biasY - y-coordinate of gyroscope known bias.

Throws:

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

getBiasZ

public double getBiasZ()

Gets z-coordinate of gyroscope known bias. This is expressed in radians per second (rad/s).

Specified by:

getBiasZ in interface KnownBiasGyroscopeCalibrator

Returns:

z-coordinate of gyroscope known bias.

setBiasZ

public void setBiasZ(double biasZ)
              throws com.irurueta.navigation.LockedException

Sets z-coordinate of gyroscope known bias. This is 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 x-coordinate of gyroscope known bias.

Specified by:

getBiasAngularSpeedX in interface KnownBiasGyroscopeCalibrator

Returns:

x-coordinate of gyroscope known bias.

getBiasAngularSpeedX

public void getBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)

Gets x-coordinate of gyroscope known 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 x-coordinate of gyroscope known bias.

Specified by:

setBiasX in interface KnownBiasGyroscopeCalibrator

Parameters:

biasX - x-coordinate of gyroscope known bias.

Throws:

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

getBiasAngularSpeedY

public com.irurueta.units.AngularSpeed getBiasAngularSpeedY()

Gets y-coordinate of gyroscope known bias.

Specified by:

getBiasAngularSpeedY in interface KnownBiasGyroscopeCalibrator

Returns:

y-coordinate of gyroscope known bias.

getBiasAngularSpeedY

public void getBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)

Gets y-coordinate of gyroscope known 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 y-coordinate of gyroscope known bias.

Specified by:

setBiasY in interface KnownBiasGyroscopeCalibrator

Parameters:

biasY - y-coordinate of gyroscope known bias.

Throws:

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

getBiasAngularSpeedZ

public com.irurueta.units.AngularSpeed getBiasAngularSpeedZ()

Gets z-coordinate of gyroscope known bias.

Specified by:

getBiasAngularSpeedZ in interface KnownBiasGyroscopeCalibrator

Returns:

initial z-coordinate of gyroscope known bias.

getBiasAngularSpeedZ

public void getBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)

Gets z-coordinate of gyroscope known 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 z-coordinate of gyroscope known bias.

Specified by:

setBiasZ in interface KnownBiasGyroscopeCalibrator

Parameters:

biasZ - z-coordinate of gyroscope known 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 bias coordinates of gyroscope expressed in radians per second (rad/s).

Specified by:

setBiasCoordinates in interface KnownBiasGyroscopeCalibrator

Parameters:

biasX - x-coordinate of gyroscope known bias.

biasY - y-coordinate of gyroscope known bias.

biasZ - z-coordinate of gyroscope known 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 bias coordinates of gyroscope.

Specified by:

setBiasCoordinates in interface KnownBiasGyroscopeCalibrator

Parameters:

biasX - x-coordinate of gyroscope known bias.

biasY - y-coordinate of gyroscope known bias.

biasZ - z-coordinate of gyroscope known 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.

getInitialSx

public double getInitialSx()

Gets initial x scaling factor of gyroscope.

Specified by:

getInitialSx in interface GyroscopeNonLinearCalibrator

Returns:

initial x scaling factor of gyroscope.

setInitialSx

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

Sets initial x scaling factor of gyroscope.

Specified by:

setInitialSx in interface GyroscopeNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor of gyroscope.

Throws:

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

getInitialSy

public double getInitialSy()

Gets initial y scaling factor of gyroscope.

Specified by:

getInitialSy in interface GyroscopeNonLinearCalibrator

Returns:

initial y scaling factor of gyroscope.

setInitialSy

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

Sets initial y scaling factor of gyroscope.

Specified by:

setInitialSy in interface GyroscopeNonLinearCalibrator

Parameters:

initialSy - initial y scaling factor of gyroscope.

Throws:

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

getInitialSz

public double getInitialSz()

Gets initial z scaling factor of gyroscope.

Specified by:

getInitialSz in interface GyroscopeNonLinearCalibrator

Returns:

initial z scaling factor of gyroscope.

setInitialSz

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

Sets initial z scaling factor of gyroscope.

Specified by:

setInitialSz in interface GyroscopeNonLinearCalibrator

Parameters:

initialSz - initial z scaling factor of gyroscope.

Throws:

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

getInitialMxy

public double getInitialMxy()

Gets initial x-y cross coupling error of gyroscope.

Specified by:

getInitialMxy in interface GyroscopeNonLinearCalibrator

Returns:

initial x-y cross coupling error of gyroscope.

setInitialMxy

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

Sets initial x-y cross coupling error of gyroscope.

Specified by:

setInitialMxy in interface GyroscopeNonLinearCalibrator

Parameters:

initialMxy - initial x-y cross coupling error of gyroscope.

Throws:

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

getInitialMxz

public double getInitialMxz()

Gets initial x-z cross coupling error of gyroscope.

Specified by:

getInitialMxz in interface GyroscopeNonLinearCalibrator

Returns:

initial x-z cross coupling error of gyroscope.

setInitialMxz

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

Sets initial x-z cross coupling error of gyroscope.

Specified by:

setInitialMxz in interface GyroscopeNonLinearCalibrator

Parameters:

initialMxz - initial x-z cross coupling error of gyroscope.

Throws:

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

getInitialMyx

public double getInitialMyx()

Gets initial y-x cross coupling error of gyroscope.

Specified by:

getInitialMyx in interface GyroscopeNonLinearCalibrator

Returns:

initial y-x cross coupling error of gyroscope.

setInitialMyx

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

Sets initial y-x cross coupling error of gyroscope.

Specified by:

setInitialMyx in interface GyroscopeNonLinearCalibrator

Parameters:

initialMyx - initial y-x cross coupling error of gyroscope.

Throws:

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

getInitialMyz

public double getInitialMyz()

Gets initial y-z cross coupling error of gyroscope.

Specified by:

getInitialMyz in interface GyroscopeNonLinearCalibrator

Returns:

initial y-z cross coupling error of gyroscope.

setInitialMyz

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

Sets initial y-z cross coupling error of gyroscope.

Specified by:

setInitialMyz in interface GyroscopeNonLinearCalibrator

Parameters:

initialMyz - initial y-z cross coupling error of gyroscope.

Throws:

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

getInitialMzx

public double getInitialMzx()

Gets initial z-x cross coupling error of gyroscope.

Specified by:

getInitialMzx in interface GyroscopeNonLinearCalibrator

Returns:

initial z-x cross coupling error of gyroscope.

setInitialMzx

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

Sets initial z-x cross coupling error of gyroscope.

Specified by:

setInitialMzx in interface GyroscopeNonLinearCalibrator

Parameters:

initialMzx - initial z-x cross coupling error of gyroscope.

Throws:

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

getInitialMzy

public double getInitialMzy()

Gets initial z-y cross coupling error of gyroscope.

Specified by:

getInitialMzy in interface GyroscopeNonLinearCalibrator

Returns:

initial z-y cross coupling error of gyroscope.

setInitialMzy

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

Sets initial z-y cross coupling error of gyroscope.

Specified by:

setInitialMzy in interface GyroscopeNonLinearCalibrator

Parameters:

initialMzy - initial z-y cross coupling error of gyroscope.

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 of gyroscope.

Specified by:

setInitialScalingFactors in interface GyroscopeNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor of gyroscope.

initialSy - initial y scaling factor of gyroscope.

initialSz - initial z scaling factor of gyroscope.

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 of gyroscope.

Specified by:

setInitialCrossCouplingErrors in interface GyroscopeNonLinearCalibrator

Parameters:

initialMxy - initial x-y cross coupling error of gyroscope.

initialMxz - initial x-z cross coupling error of gyroscope.

initialMyx - initial y-x cross coupling error of gyroscope.

initialMyz - initial y-z cross coupling error of gyroscope.

initialMzx - initial z-x cross coupling error of gyroscope.

initialMzy - initial z-y cross coupling error of gyroscope.

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 of gyroscope.

Specified by:

setInitialScalingFactorsAndCrossCouplingErrors in interface GyroscopeNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor of gyroscope.

initialSy - initial y scaling factor of gyroscope.

initialSz - initial z scaling factor of gyroscope.

initialMxy - initial x-y cross coupling error of gyroscope.

initialMxz - initial x-z cross coupling error of gyroscope.

initialMyx - initial y-x cross coupling error of gyroscope.

initialMyz - initial y-z cross coupling error of gyroscope.

initialMzx - initial z-x cross coupling error of gyroscope.

initialMzy - initial z-y cross coupling error of gyroscope.

Throws:

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

getBias

public double[] getBias()

Gets gyroscope known bias as an array. Array values are expressed in radians per second (rad/s).

Specified by:

getBias in interface KnownBiasGyroscopeCalibrator

Returns:

array containing coordinates of gyroscope known bias.

getBias

public void getBias(double[] result)

Gets gyroscope known 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 gyroscope known bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).

Specified by:

setBias in interface KnownBiasGyroscopeCalibrator

Parameters:

bias - known 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 gyroscope known bias as a column matrix. Matrix values are expressed in radians per second (rad/s).

Specified by:

getBiasAsMatrix in interface KnownBiasGyroscopeCalibrator

Returns:

initial gyroscope bias to be used to find a solution as a column matrix.

getBiasAsMatrix

public void getBiasAsMatrix(com.irurueta.algebra.Matrix result)

Gets gyroscope known bias as a column matrix. Matrix values are expressed in radians per second (rad/s).

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 gyroscope known bias as a column matrix. Matrix values are expressed in radians per second (rad/s).

Specified by:

setBias in interface KnownBiasGyroscopeCalibrator

Parameters:

bias - gyroscope known bias.

Throws:

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

IllegalArgumentException - if provided matrix is not 3x1.

getInitialMg

public com.irurueta.algebra.Matrix getInitialMg()

Gets initial gyroscope scale factors and cross coupling errors matrix.

Specified by:

getInitialMg in interface GyroscopeNonLinearCalibrator

Returns:

initial gyroscope scale factors and cross coupling errors matrix.

getInitialMg

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

Gets initial gyroscope 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 gyroscope 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.

getSequences

public List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> getSequences()

Gets collection of sequences of timestamped body kinematics measurements taken at a given position where the device moves freely with different orientations.

Specified by:

getSequences in interface OrderedBodyKinematicsSequenceGyroscopeCalibrator

Returns:

collection of sequences of timestamped body kinematics measurements.

setSequences

public void setSequences(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences)
                  throws com.irurueta.navigation.LockedException

Sets collection of sequences of timestamped body kinematics measurements taken at a given position where the device moves freely with different orientations.

Specified by:

setSequences in interface OrderedBodyKinematicsSequenceGyroscopeCalibrator

Parameters:

sequences - collection of sequences of timestamped body kinematics measurements.

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 Ma 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 Ma 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.

isGDependentCrossBiasesEstimated

public boolean isGDependentCrossBiasesEstimated()

Indicates whether G-dependent cross biases are being estimated or not. When enabled, this adds 9 variables from Gg matrix.

Returns:

true if G-dependent cross biases will be estimated, false otherwise.

setGDependentCrossBiasesEstimated

public void setGDependentCrossBiasesEstimated(boolean estimateGDependentCrossBiases)
                                       throws com.irurueta.navigation.LockedException

Specifies whether G-dependent cross biases are being estimated or not. When enabled, this adds 9 variables from Gg matrix.

Parameters:

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

Throws:

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

getListener

public KnownBiasEasyGyroscopeCalibratorListener getListener()

Gets listener to handle events raised by this estimator.

Returns:

listener to handle events raised by this estimator.

setListener

public void setListener(KnownBiasEasyGyroscopeCalibratorListener listener)
                 throws com.irurueta.navigation.LockedException

Sets listener to handle events raised by this estimator.

Parameters:

listener - listener to handle events raised by this estimator.

Throws:

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

getMinimumRequiredMeasurementsOrSequences

public int getMinimumRequiredMeasurementsOrSequences()

Gets minimum number of required sequences.

Specified by:

getMinimumRequiredMeasurementsOrSequences in interface GyroscopeCalibrator

Returns:

minimum number of required sequences.

isReady

public boolean isReady()

Indicates whether calibrator is ready to start.

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 scale factors, cross-coupling errors and G-dependent coupling.

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 estimation 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, or null if not available.

getEstimatedSx

public Double getEstimatedSx()

Gets estimated gyroscope x-axis scale factor.

Specified by:

getEstimatedSx in interface GyroscopeCalibrator

Returns:

estimated gyroscope x-axis scale factor or null if not available.

getEstimatedSy

public Double getEstimatedSy()

Gets estimated gyroscope y-axis scale factor.

Specified by:

getEstimatedSy in interface GyroscopeCalibrator

Returns:

estimated gyroscope y-axis scale factor or null if not available.

getEstimatedSz

public Double getEstimatedSz()

Gets estimated gyroscope z-axis scale factor.

Specified by:

getEstimatedSz in interface GyroscopeCalibrator

Returns:

estimated gyroscope z-axis scale factor or null if not available.

getEstimatedMxy

public Double getEstimatedMxy()

Gets estimated gyroscope x-y cross-coupling error.

Specified by:

getEstimatedMxy in interface GyroscopeCalibrator

Returns:

estimated gyroscope x-y cross-coupling error or null if not available.

getEstimatedMxz

public Double getEstimatedMxz()

Gets estimated gyroscope x-z cross-coupling error.

Specified by:

getEstimatedMxz in interface GyroscopeCalibrator

Returns:

estimated gyroscope x-z cross-coupling error or null if not available.

getEstimatedMyx

public Double getEstimatedMyx()

Gets estimated gyroscope y-x cross-coupling error.

Specified by:

getEstimatedMyx in interface GyroscopeCalibrator

Returns:

estimated gyroscope y-x cross-coupling error or null if not available.

getEstimatedMyz

public Double getEstimatedMyz()

Gets estimated gyroscope y-z cross-coupling error.

Specified by:

getEstimatedMyz in interface GyroscopeCalibrator

Returns:

estimated gyroscope y-z cross-coupling error or null if not available.

getEstimatedMzx

public Double getEstimatedMzx()

Gets estimated gyroscope z-x cross-coupling error.

Specified by:

getEstimatedMzx in interface GyroscopeCalibrator

Returns:

estimated gyroscope z-x cross-coupling error or null if not available.

getEstimatedMzy

public Double getEstimatedMzy()

Gets estimated gyroscope z-y cross-coupling error.

Specified by:

getEstimatedMzy in interface GyroscopeCalibrator

Returns:

estimated gyroscope 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. This instance allows any 3x3 matrix.

Specified by:

getEstimatedGg in interface GyroscopeCalibrator

Returns:

estimated G-dependent cross biases.

getEstimatedCovariance

public com.irurueta.algebra.Matrix getEstimatedCovariance()

Gets estimated covariance matrix for estimated parameters. 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 parameters.

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.

calibrateCommonAxisAndGDependentCrossBiases

private void calibrateCommonAxisAndGDependentCrossBiases()
                                                  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 and when G-dependent cross biases are being estimated.

Throws:

com.irurueta.algebra.AlgebraException - if accelerometer parameters prevent fixing measured accelerometer values due to numerical instabilities.

com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.

com.irurueta.numerical.NotReadyException - if fitter is not ready.

calibrateGeneralAndGDependentCrossBiases

private void calibrateGeneralAndGDependentCrossBiases()
                                               throws com.irurueta.algebra.AlgebraException,
com.irurueta.numerical.fitting.FittingException,
com.irurueta.numerical.NotReadyException

Internal method to perform general calibration when G-dependent cross biases are being estimated.

Throws:

com.irurueta.algebra.AlgebraException - if accelerometer parameters prevent fixing measured accelerometer values due to numerical instabilities.

com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.

com.irurueta.numerical.NotReadyException - if fitter is not ready.

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 and G-dependent cross biases are ignored.

Throws:

com.irurueta.algebra.AlgebraException - if accelerometer parameters prevent fixing measured accelerometer values due to numerical instabilities.

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 when G-dependant cross biases are ignored.

Throws:

com.irurueta.algebra.AlgebraException - if accelerometer parameters prevent fixing measured accelerometer values due to numerical instabilities.

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.AlgebraException

Sets input data into Levenberg-Marquardt fitter.

Throws:

com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

computeAverageAngularRateStandardDeviation

private static double computeAverageAngularRateStandardDeviation(BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence)

Computes average angular rate standard deviation for measurements in provided sequence.

Parameters:

sequence - a sequence.

Returns:

average angular rate standard deviation expressed in radians per second (rad/s).

convertAcceleration

private static double convertAcceleration(com.irurueta.units.Acceleration acceleration)

Converts acceleration instance to meters per squared second.

Parameters:

acceleration - acceleration instance to be converted.

Returns:

converted value.

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.

setResult

private void setResult(com.irurueta.algebra.Matrix m,
 com.irurueta.algebra.Matrix g)
                throws com.irurueta.algebra.AlgebraException

Makes proper conversion of internal cross-coupling, bias and g-dependent cross bias matrices.

Parameters:

m - internal scaling and cross-coupling matrix.

g - internal g-dependent cross bias matrix.

Throws:

com.irurueta.algebra.AlgebraException - if a numerical instability occurs.

setResult

private void setResult(com.irurueta.algebra.Matrix m)
                throws com.irurueta.algebra.AlgebraException

Makes proper conversion of internal cross-coupling and bias matrices.

Parameters:

m - internal scaling and cross-coupling matrix.

Throws:

com.irurueta.algebra.AlgebraException - if a numerical instability occurs.

evaluateGeneralWithGDependentCrossBiases

private double evaluateGeneralWithGDependentCrossBiases(int i,
 double[] params)
                                                 throws com.irurueta.numerical.EvaluationException

Computes gravity versor error at the end of a sequence using provided parameters. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.

Parameters:

i - row position.

params - array containing parameters for the general purpose case when G-dependent cross biases are taken into account. Must have length 18.

Returns:

error between estimated and measured gravity versor.

Throws:

com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

evaluateCommonAxisWithGDependentCrossBiases

private double evaluateCommonAxisWithGDependentCrossBiases(int i,
 double[] params)
                                                    throws com.irurueta.numerical.EvaluationException

Computes gravity versor error at the end of a sequence using provided parameters. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.

Parameters:

i - row position.

params - array containing parameters for the general purpose case when G-dependent cross biases are taken into account. Must have length 15.

Returns:

error between estimated and measured gravity versor.

Throws:

com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

evaluateGeneral

private double evaluateGeneral(int i,
 double[] params)
                        throws com.irurueta.numerical.EvaluationException

Computes gravity versor error at the end of a sequence using provided parameters. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.

Parameters:

i - row position.

params - array containing current parameters for the general purpose case when G-dependent cross biases are ignored. Must have length 9.

Returns:

error between estimated and measured gravity versor.

Throws:

com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

evaluateCommonAxis

private double evaluateCommonAxis(int i,
 double[] params)
                           throws com.irurueta.numerical.EvaluationException

Computes gravity versor error at the end of a sequence using provided parameters. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.

Parameters:

i - row position.

params - array containing current parameters for the common z-axis case when G-dependent cross biases are ignored. Must have length 9.

Returns:

error between estimated and measured gravity versor.

Throws:

com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

evaluate

private double evaluate(int i,
 double m11,
 double m21,
 double m31,
 double m12,
 double m22,
 double m32,
 double m13,
 double m23,
 double m33,
 double g11,
 double g21,
 double g31,
 double g12,
 double g22,
 double g32,
 double g13,
 double g23,
 double g33)
                 throws com.irurueta.numerical.EvaluationException

Computes gravity versor error at the end of a sequence using provided parameters. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.

Parameters:

i - row position.

m11 - element 1,1 of cross-coupling error matrix.

m21 - element 2,1 of cross-coupling error matrix.

m31 - element 3,1 of cross-coupling error matrix.

m12 - element 1,2 of cross-coupling error matrix.

m22 - element 2,2 of cross-coupling error matrix.

m32 - element 3,2 of cross-coupling error matrix.

m13 - element 1,3 of cross-coupling error matrix.

m23 - element 2,3 of cross-coupling error matrix.

m33 - element 3,3 of cross-coupling error matrix.

g11 - element 1,1 of g-dependent cross bias matrix.

g21 - element 2,1 of g-dependent cross bias matrix.

g31 - element 3,1 of g-dependent cross bias matrix.

g12 - element 1,2 of g-dependent cross bias matrix.

g22 - element 2,2 of g-dependent cross bias matrix.

g32 - element 3,2 of g-dependent cross bias matrix.

g13 - element 1,3 of g-dependent cross bias matrix.

g23 - element 2,3 of g-dependent cross bias matrix.

g33 - element 3,3 of g-dependent cross bias matrix.

Returns:

error between estimated and measured gravity versor.

Throws:

com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

fixKinematics

private void fixKinematics(BodyKinematics kinematics,
 BodyKinematics result)
                    throws com.irurueta.algebra.AlgebraException

Fixes provided kinematics with provided accelerometer parameters and current gyroscope parameters.

Parameters:

kinematics - kinematics to be fixed with current values.

result - kinematics where result will be stored.

Throws:

com.irurueta.algebra.AlgebraException - if for some reason kinematics

reset

private void reset()

Resets any previous estimations.