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

Class KnownBiasTurntableGyroscopeCalibrator

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

This calibrator assumes that the IMU is placed flat on a turntable spinning at constant speed, but absolute orientation or position of IMU is unknown. Turntable must rotate fast enough so that Earth rotation effects can be neglected, bus slow enough so that gyroscope readings can be properly made.

To use this calibrator at least 7 measurements are needed when common z-axis is assumed and G-dependent cross biases are ignored, otherwise at least 10 measurements are required 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 measurements are required 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.

  • 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 com.irurueta.algebra.Matrix
    ba
    Internally holds accelerometer bias during calibration.
    private double
    biasX
    Known x-coordinate of gyroscope bias.
    private double
    biasY
    Known y-coordinate of gyroscope bias.
    private double
    biasZ
    Known z-coordinate of gyroscope bias.
    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 double
    DEFAULT_TIME_INTERVAL
    Default time interval between measurements expressed in seconds (s).
    static final double
    DEFAULT_TURNTABLE_ROTATION_RATE
    Default turntable rotation rate.
    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 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.numerical.fitting.LevenbergMarquardtMultiDimensionFitter
    fitter
    Levenberg-Marquardt fitter to find a non-linear solution.
    private com.irurueta.algebra.Matrix
    fmeas
    Internally holds measured specific force during calibration expressed as a column matrix.
    private double
    fmeasX
    Internally holds x-coordinate of measured specific force during calibration.
    private double
    fmeasY
    Internally holds y-coordinate of measured specific force during calibration.
    private double
    fmeasZ
    Internally holds z-coordinate of measured specific force during calibration.
    private com.irurueta.algebra.Matrix
    ftrue
    Internally holds computed true specific force during calibration.
    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 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 KnownBiasTurntableGyroscopeCalibratorListener
    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
    ma
    Internally holds accelerometer scaling and cross coupling errors during calibration.
    private com.irurueta.algebra.Matrix
    measAngularRate
    Internally holds measured angular rate during calibration expressed as a column matrix.
    private double
    measAngularRateX
    Internally holds x-coordinate of measured angular rate during calibration.
    private double
    measAngularRateY
    Internally holds y-coordinate of measured angular rate during calibration.
    private double
    measAngularRateZ
    Internally holds z-coordinate of measured angular rate during calibration.
    private Collection<StandardDeviationBodyKinematics>
    measurements
    Contains a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
    static final int
    MINIMUM_MEASUREMENTS_COMMON_Z_AXIS
    Required minimum number of measurements when common z-axis is assumed and G-dependent cross biases are being ignored.
    static final int
    MINIMUM_MEASUREMENTS_COMMON_Z_AXIS_AND_CROSS_BIASES
    Required minimum number of measurements when common z-axis is assumed and G-dependent cross biases are being estimated.
    static final int
    MINIMUM_MEASUREMENTS_GENERAL
    Required minimum number of measurements for the general case and G-dependent cross biases are being ignored.
    static final int
    MINIMUM_MEASUREMENTS_GENERAL_AND_CROSS_BIASES
    Required minimum number of measurements for the general case and G-dependent cross biases are being estimated.
    private com.irurueta.navigation.frames.ECEFPosition
    position
    Position where body kinematics measures have been taken.
    private boolean
    running
    Indicates whether calibrator is running.
    private double
    timeInterval
    Time interval between measurements being captured expressed in second (s).
    private com.irurueta.algebra.Matrix
    tmp
    Internally holds angular rate bias due to g-dependent cross biases
    private com.irurueta.algebra.Matrix
    trueAngularRate
    Internally holds computed true angular rate during calibration.
    private double
    turntableRotationRate
    Constant rotation rate at which the turntable is spinning.

  • Constructor Summary

    Constructors
    Constructor
    Description
    KnownBiasTurntableGyroscopeCalibrator()
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.
    KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
    Constructor.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    calibrate()
    Estimates gyroscope calibration parameters containing bias, 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-dependent cross biases are ignored.
    private void
    calibrateGeneralAndGDependentCrossBiases()
    Internal method to perform general calibration when G-dependent cross biases are being estimated.
    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 static com.irurueta.navigation.frames.ECEFPosition
    convertPosition(com.irurueta.navigation.frames.NEDPosition position)
    Converts provided NED position expressed in terms of latitude, longitude and height respect mean Earth surface, to position expressed in ECEF coordinates.
    private static double
    convertTime(com.irurueta.units.Time time)
    Converts time instance to seconds.
    private double
    evaluate(double m11, double m21, double m31, double m12, double m22, double m32, double m13, double m23, double m33)
    Computes estimated true angular rate squared norm using current measured angular rate and provided parameters.
    private double
    evaluate(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 estimated true angular rate squared norm using current measured angular rate and provided parameters.
    private double
    evaluateCommonAxis(double[] params)
    Computes estimated true angular rate squared norm using current measured angular rate and provided parameters when common z-axis is assumed and G-dependent cross biases are ignored.
    private double
    evaluateCommonAxisWitGDependentCrossBiases(double[] params)
    Computes estimated true angular rate squared norm using current measured angular rate and specific force along with provided parameters when common z-axis is assumed and G-dependent cross biases are taken into account.
    private double
    evaluateGeneral(double[] params)
    Computes estimated true angular rate squared norm using current measured angular rate and provided parameters for the general case when G-dependent cross biases are ignored.
    private double
    evaluateGeneralWitGDependentCrossBiases(double[] params)
    Computes estimated true angular rate squared norm using current measured angular rate and specific force along with provided parameters for the general case when G-dependent cross biases are taken into account.
    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 known gyroscope bias as an array.
    void
    getBias(double[] result)
    Gets known gyroscope bias as an array.
    com.irurueta.units.AngularSpeed
    getBiasAngularSpeedX()
    Gets known x-coordinate of gyroscope bias.
    void
    getBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)
    Gets known x-coordinate of gyroscope bias.
    com.irurueta.units.AngularSpeed
    getBiasAngularSpeedY()
    Gets known y-coordinate of gyroscope bias.
    void
    getBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)
    Gets known y-coordinate of gyroscope bias.
    com.irurueta.units.AngularSpeed
    getBiasAngularSpeedZ()
    Gets known z-coordinate of gyroscope bias to be used to find a solution.
    void
    getBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)
    Gets known z-coordinate of gyroscope bias.
    com.irurueta.algebra.Matrix
    getBiasAsMatrix()
    Gets known gyroscope bias as a column matrix.
    void
    getBiasAsMatrix(com.irurueta.algebra.Matrix result)
    Gets known gyroscope bias as a column matrix.
    AngularSpeedTriad
    getBiasAsTriad()
    Gets known gyroscope bias.
    void
    getBiasAsTriad(AngularSpeedTriad result)
    Gets known gyroscope bias.
    double
    getBiasX()
    Gets known x-coordinate of gyroscope bias.
    double
    getBiasY()
    Gets known y-coordinate of gyroscope bias.
    double
    getBiasZ()
    Gets known z-coordinate of gyroscope bias.
    com.irurueta.navigation.frames.ECEFPosition
    getEcefPosition()
    Gets position where body kinematics measures have been taken expressed in ECEF coordinates.
    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.
    KnownBiasTurntableGyroscopeCalibratorListener
    getListener()
    Gets listener to handle events raised by this estimator.
    GyroscopeCalibratorMeasurementOrSequenceType
    getMeasurementOrSequenceType()
    Indicates the type of measurement or sequence used by this calibrator.
    Collection<StandardDeviationBodyKinematics>
    getMeasurements()
    Gets a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
    int
    getMinimumRequiredMeasurementsOrSequences()
    Gets minimum number of required measurements.
    com.irurueta.navigation.frames.NEDPosition
    getNedPosition()
    Gets position where body kinematics measures have been taken expressed in NED coordinates.
    boolean
    getNedPosition(com.irurueta.navigation.frames.NEDPosition result)
    Gets position where body kinematics measures have been taken expressed in NED coordinates.
    double
    getTimeInterval()
    Gets time interval between measurements being captured expressed in seconds (s).
    com.irurueta.units.Time
    getTimeIntervalAsTime()
    Gets time interval between measurements being captured.
    void
    getTimeIntervalAsTime(com.irurueta.units.Time result)
    Gets time interval between measurements being captured.
    double
    getTurntableRotationRate()
    Gets constant rotation rate at which the turntable is spinning.
    com.irurueta.units.AngularSpeed
    getTurntableRotationRateAsAngularSpeed()
    Gets constant rotation rate at which the turntable is spinning.
    void
    getTurntableRotationRateAsAngularSpeed(com.irurueta.units.AngularSpeed result)
    Gets constant rotation rate at which the turntable is spinning.
    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.
    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 known gyroscope bias as an array.
    void
    setBias(com.irurueta.algebra.Matrix bias)
    Sets known gyroscope 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 known x-coordinate of gyroscope bias.
    void
    setBiasX(com.irurueta.units.AngularSpeed biasX)
    Sets known x-coordinate of gyroscope bias.
    void
    setBiasY(double biasY)
    Sets known y-coordinate of gyroscope bias.
    void
    setBiasY(com.irurueta.units.AngularSpeed biasY)
    Sets known y-coordinate of gyroscope bias to be used to find a solution.
    void
    setBiasZ(double biasZ)
    Sets known z-coordinate of gyroscope bias.
    void
    setBiasZ(com.irurueta.units.AngularSpeed biasZ)
    Sets known z-coordinate of gyroscope 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 when G-dependent cross biases are ignored.
    private void
    setInputDataWithGDependentCrossBiases()
    Sets input data into Levenberg-Marquardt fitter when G-dependent cross biases are taken into account.
    void
    setListener(KnownBiasTurntableGyroscopeCalibratorListener listener)
    Sets listener to handle events raised by this estimator.
    void
    setMeasurements(Collection<StandardDeviationBodyKinematics> measurements)
    Sets a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
    void
    setPosition(com.irurueta.navigation.frames.ECEFPosition position)
    Gets position where body kinematics measures have been taken expressed in ECEF coordinates.
    void
    setPosition(com.irurueta.navigation.frames.NEDPosition position)
    Sets position where body kinematics measures have been taken expressed in NED coordinates.
    private void
    setResult(com.irurueta.algebra.Matrix m)
    Makes proper conversion of internal cross-coupling matrix.
    private void
    setResult(com.irurueta.algebra.Matrix m, com.irurueta.algebra.Matrix g)
    Makes proper conversion of internal cross-coupling and g-dependent cross bias matrices.
    void
    setTimeInterval(double timeInterval)
    Sets time interval between measurements being captured expressed in seconds (s).
    void
    setTimeInterval(com.irurueta.units.Time timeInterval)
    Sets time interval between measurements being captured.
    void
    setTurntableRotationRate(double turntableRotationRate)
    Sets constant rotation rate at which the turntable is spinning.
    void
    setTurntableRotationRate(com.irurueta.units.AngularSpeed turntableRotationRate)
    Sets constant rotation rate at which the turntable is spinning.

    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:

    • 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:

    • 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:

    • 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:

    • 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:

    • 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:

    • MINIMUM_MEASUREMENTS_COMMON_Z_AXIS_AND_CROSS_BIASES

      public static final int MINIMUM_MEASUREMENTS_COMMON_Z_AXIS_AND_CROSS_BIASES
      Required minimum number of measurements when common z-axis is assumed and G-dependent cross biases are being estimated.
      See Also:

    • MINIMUM_MEASUREMENTS_GENERAL_AND_CROSS_BIASES

      public static final int MINIMUM_MEASUREMENTS_GENERAL_AND_CROSS_BIASES
      Required minimum number of measurements for the general case and G-dependent cross biases are being estimated.
      See Also:

    • MINIMUM_MEASUREMENTS_COMMON_Z_AXIS

      public static final int MINIMUM_MEASUREMENTS_COMMON_Z_AXIS
      Required minimum number of measurements when common z-axis is assumed and G-dependent cross biases are being ignored.
      See Also:

    • MINIMUM_MEASUREMENTS_GENERAL

      public static final int MINIMUM_MEASUREMENTS_GENERAL
      Required minimum number of measurements for the general case and G-dependent cross biases are being ignored.
      See Also:

    • DEFAULT_TURNTABLE_ROTATION_RATE

      public static final double DEFAULT_TURNTABLE_ROTATION_RATE
      Default turntable rotation rate.
      See Also:

    • DEFAULT_TIME_INTERVAL

      public static final double DEFAULT_TIME_INTERVAL
      Default time interval between measurements expressed in seconds (s). This is a typical value when we have 50 samples per second.
      See Also:

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

    • biasY

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

    • biasZ

      private double biasZ
      Known z-coordinate of gyroscope bias. This is 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.

    • turntableRotationRate

      private double turntableRotationRate
      Constant rotation rate at which the turntable is spinning. This is expressed in radians per second (rad/s).

    • timeInterval

      private double timeInterval
      Time interval between measurements being captured expressed in second (s).

    • measurements

      private Collection<StandardDeviationBodyKinematics> measurements
      Contains a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

    • position

      private com.irurueta.navigation.frames.ECEFPosition position
      Position where body kinematics measures have been taken.

    • 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 KnownBiasTurntableGyroscopeCalibratorListener 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.

    • measAngularRateX

      private double measAngularRateX
      Internally holds x-coordinate of measured angular rate during calibration.

    • measAngularRateY

      private double measAngularRateY
      Internally holds y-coordinate of measured angular rate during calibration.

    • measAngularRateZ

      private double measAngularRateZ
      Internally holds z-coordinate of measured angular rate during calibration.

    • fmeasX

      private double fmeasX
      Internally holds x-coordinate of measured specific force during calibration.

    • fmeasY

      private double fmeasY
      Internally holds y-coordinate of measured specific force during calibration.

    • fmeasZ

      private double fmeasZ
      Internally holds z-coordinate of measured specific force during calibration.

    • measAngularRate

      private com.irurueta.algebra.Matrix measAngularRate
      Internally holds measured angular rate during calibration expressed as a column matrix.

    • fmeas

      private com.irurueta.algebra.Matrix fmeas
      Internally holds measured specific force during calibration expressed as a column matrix.

    • 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.

    • trueAngularRate

      private com.irurueta.algebra.Matrix trueAngularRate
      Internally holds computed true angular rate during calibration.

    • ftrue

      private com.irurueta.algebra.Matrix ftrue
      Internally holds computed true specific force during calibration.

    • ba

      private com.irurueta.algebra.Matrix ba
      Internally holds accelerometer bias during calibration.

    • ma

      private com.irurueta.algebra.Matrix ma
      Internally holds accelerometer scaling and cross coupling errors during calibration.

    • tmp

      private com.irurueta.algebra.Matrix tmp
      Internally holds angular rate bias due to g-dependent cross biases

    • accelerationFixer

      private final AccelerationFixer accelerationFixer
      Acceleration fixer.

  • Constructor Details

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator()
      Constructor.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

    • KnownBiasTurntableGyroscopeCalibrator

      public KnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, Collection<StandardDeviationBodyKinematics> measurements, 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, KnownBiasTurntableGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      position - position where body kinematics measures have been taken.
      turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).
      timeInterval - time interval between measurements being captured expressed in seconds (s).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      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 - known gyroscope 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 or if either turntable rotation rate or time interval is zero or negative.

  • 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 known x-coordinate of gyroscope bias. This is expressed in radians per second (rad/s).
      Specified by:
      getBiasX in interface KnownBiasGyroscopeCalibrator
      Returns:
      known x-coordinate of gyroscope bias.

    • setBiasX

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

    • getBiasY

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

    • setBiasY

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

    • getBiasZ

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

    • setBiasZ

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

    • getBiasAngularSpeedX

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

    • getBiasAngularSpeedX

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

    • setBiasX

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

    • getBiasAngularSpeedY

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

    • getBiasAngularSpeedY

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

    • setBiasY

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

    • getBiasAngularSpeedZ

      public com.irurueta.units.AngularSpeed getBiasAngularSpeedZ()
      Gets known z-coordinate of gyroscope bias to be used to find a solution.
      Specified by:
      getBiasAngularSpeedZ in interface KnownBiasGyroscopeCalibrator
      Returns:
      known z-coordinate of gyroscope bias.

    • getBiasAngularSpeedZ

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

    • setBiasZ

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

    • setBiasCoordinates

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

    • setBiasCoordinates

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

    • getBiasAsTriad

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

    • getBiasAsTriad

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

    • setBias

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

    • 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 known gyroscope bias as an array. Array values are expressed in radians per second (rad/s).
      Specified by:
      getBias in interface KnownBiasGyroscopeCalibrator
      Returns:
      array containing coordinates of gyroscope bias.

    • getBias

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

    • setBias

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

    • getBiasAsMatrix

      public com.irurueta.algebra.Matrix getBiasAsMatrix()
      Gets known gyroscope bias as a column matrix. Matrix values are expressed in radians per second (rad/s).
      Specified by:
      getBiasAsMatrix in interface KnownBiasGyroscopeCalibrator
      Returns:
      known gyroscope bias as a column matrix.

    • getBiasAsMatrix

      public void getBiasAsMatrix(com.irurueta.algebra.Matrix result)
      Gets known gyroscope bias as a column matrix. 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 known gyroscope bias as a column matrix. Matrix values are expressed in radians per second (rad/s).
      Specified by:
      setBias in interface KnownBiasGyroscopeCalibrator
      Parameters:
      bias - known gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided 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.

    • getTurntableRotationRate

      public double getTurntableRotationRate()
      Gets constant rotation rate at which the turntable is spinning. This is expressed in radians per second (rad/s).
      Returns:
      constant rotation rate of turntable.

    • setTurntableRotationRate

      public void setTurntableRotationRate(double turntableRotationRate) throws com.irurueta.navigation.LockedException
      Sets constant rotation rate at which the turntable is spinning. This is expressed in radians per second (rad/s).
      Parameters:
      turntableRotationRate - constant rotation rate of turntable.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running
      IllegalArgumentException - if provided value is zero or negative.

    • getTurntableRotationRateAsAngularSpeed

      public com.irurueta.units.AngularSpeed getTurntableRotationRateAsAngularSpeed()
      Gets constant rotation rate at which the turntable is spinning.
      Returns:
      constant rotation rate of turntable.

    • getTurntableRotationRateAsAngularSpeed

      public void getTurntableRotationRateAsAngularSpeed(com.irurueta.units.AngularSpeed result)
      Gets constant rotation rate at which the turntable is spinning.
      Parameters:
      result - instance where result will be stored.

    • setTurntableRotationRate

      public void setTurntableRotationRate(com.irurueta.units.AngularSpeed turntableRotationRate) throws com.irurueta.navigation.LockedException
      Sets constant rotation rate at which the turntable is spinning.
      Parameters:
      turntableRotationRate - constant rotation rate of turntable.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided value is zero or negative.

    • getTimeInterval

      public double getTimeInterval()
      Gets time interval between measurements being captured expressed in seconds (s).
      Returns:
      time interval between measurements.

    • setTimeInterval

      public void setTimeInterval(double timeInterval) throws com.irurueta.navigation.LockedException
      Sets time interval between measurements being captured expressed in seconds (s).
      Parameters:
      timeInterval - time interval between measurements.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided value is zero or negative.

    • getTimeIntervalAsTime

      public com.irurueta.units.Time getTimeIntervalAsTime()
      Gets time interval between measurements being captured.
      Returns:
      time interval between measurements.

    • getTimeIntervalAsTime

      public void getTimeIntervalAsTime(com.irurueta.units.Time result)
      Gets time interval between measurements being captured.
      Parameters:
      result - instance where result will be stored.

    • setTimeInterval

      public void setTimeInterval(com.irurueta.units.Time timeInterval) throws com.irurueta.navigation.LockedException
      Sets time interval between measurements being captured.
      Parameters:
      timeInterval - time interval between measurements.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurements

      public Collection<StandardDeviationBodyKinematics> getMeasurements()
      Gets a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      Specified by:
      getMeasurements in interface UnorderedStandardDeviationBodyKinematicsGyroscopeCalibrator
      Returns:
      collection of body kinematics measurements at a known position with unknown orientations.

    • setMeasurements

      public void setMeasurements(Collection<StandardDeviationBodyKinematics> measurements) throws com.irurueta.navigation.LockedException
      Sets a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      Specified by:
      setMeasurements in interface UnorderedStandardDeviationBodyKinematicsGyroscopeCalibrator
      Parameters:
      measurements - collection of body kinematics measurements at a known position with unknown orientations.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getEcefPosition

      public com.irurueta.navigation.frames.ECEFPosition getEcefPosition()
      Gets position where body kinematics measures have been taken expressed in ECEF coordinates.
      Returns:
      position where body kinematics measures have been taken.

    • setPosition

      public void setPosition(com.irurueta.navigation.frames.ECEFPosition position) throws com.irurueta.navigation.LockedException
      Gets position where body kinematics measures have been taken expressed in ECEF coordinates.
      Parameters:
      position - position where body kinematics measures have been taken.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getNedPosition

      public com.irurueta.navigation.frames.NEDPosition getNedPosition()
      Gets position where body kinematics measures have been taken expressed in NED coordinates.
      Returns:
      position where body kinematics measures have been taken or null if not available.

    • getNedPosition

      public boolean getNedPosition(com.irurueta.navigation.frames.NEDPosition result)
      Gets position where body kinematics measures have been taken expressed in NED coordinates.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if NED position could be computed, false otherwise.

    • setPosition

      public void setPosition(com.irurueta.navigation.frames.NEDPosition position) throws com.irurueta.navigation.LockedException
      Sets position where body kinematics measures have been taken expressed in NED coordinates.
      Parameters:
      position - position where body kinematics measures have been taken.
      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 KnownBiasTurntableGyroscopeCalibratorListener getListener()
      Gets listener to handle events raised by this estimator.
      Returns:
      listener to handle events raised by this estimator.

    • setListener

      public void setListener(KnownBiasTurntableGyroscopeCalibratorListener 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 measurements.
      Specified by:
      getMinimumRequiredMeasurementsOrSequences in interface GyroscopeCalibrator
      Returns:
      minimum number of required measurements.

    • 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 bias, 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, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      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 there are numerical errors.
      com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.
      com.irurueta.numerical.NotReadyException - if fitter is not ready.
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - never happens

    • calibrateGeneralAndGDependentCrossBiases

      private void calibrateGeneralAndGDependentCrossBiases() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Internal method to perform general calibration when G-dependent cross biases are being estimated.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical errors.
      com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.
      com.irurueta.numerical.NotReadyException - if fitter is not ready.
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - never happens

    • calibrateCommonAxis

      private void calibrateCommonAxis() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      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 there are numerical errors.
      com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.
      com.irurueta.numerical.NotReadyException - if fitter is not ready.
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - never happens.

    • calibrateGeneral

      private void calibrateGeneral() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Internal method to perform general calibration when G-dependent cross biases are ignored.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical errors.
      com.irurueta.numerical.fitting.FittingException - if no convergence to solution is found.
      com.irurueta.numerical.NotReadyException - if fitter is not ready.
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - never happens.

    • setInputDataWithGDependentCrossBiases

      private void setInputDataWithGDependentCrossBiases() throws com.irurueta.algebra.AlgebraException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Sets input data into Levenberg-Marquardt fitter when G-dependent cross biases are taken into account.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided accelerometer cross coupling errors are not valid.
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - never happens

    • setInputData

      private void setInputData() throws com.irurueta.algebra.AlgebraException, com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException
      Sets input data into Levenberg-Marquardt fitter when G-dependent cross biases are ignored.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided accelerometer cross coupling errors are not valid.
      com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException - never happens.

    • convertPosition

      private static com.irurueta.navigation.frames.ECEFPosition convertPosition(com.irurueta.navigation.frames.NEDPosition position)
      Converts provided NED position expressed in terms of latitude, longitude and height respect mean Earth surface, to position expressed in ECEF coordinates.
      Parameters:
      position - NED position to be converted.
      Returns:
      converted position expressed in ECEF coordinates.

    • 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.

    • convertTime

      private static double convertTime(com.irurueta.units.Time time)
      Converts time instance to seconds.
      Parameters:
      time - time 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 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 matrix.
      Parameters:
      m - internal scaling and cross-coupling matrix.
      Throws:
      com.irurueta.algebra.AlgebraException - if a numerical instability occurs.

    • evaluateGeneralWitGDependentCrossBiases

      private double evaluateGeneralWitGDependentCrossBiases(double[] params) throws com.irurueta.numerical.EvaluationException
      Computes estimated true angular rate squared norm using current measured angular rate and specific force along with provided parameters for the general case when G-dependent cross biases are taken into account. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.
      Parameters:
      params - array containing parameters for the general purpose case when G-dependent cross biases are taken into account. Must have length 18.
      Returns:
      estimated true angular rate squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

    • evaluateCommonAxisWitGDependentCrossBiases

      private double evaluateCommonAxisWitGDependentCrossBiases(double[] params) throws com.irurueta.numerical.EvaluationException
      Computes estimated true angular rate squared norm using current measured angular rate and specific force along with provided parameters when common z-axis is assumed and G-dependent cross biases are taken into account. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.
      Parameters:
      params - array containing parameters for the general purpose case when G-dependent cross biases are taken into account. Must have length 15.
      Returns:
      estimated true angular rate squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

    • evaluateGeneral

      private double evaluateGeneral(double[] params) throws com.irurueta.numerical.EvaluationException
      Computes estimated true angular rate squared norm using current measured angular rate and provided parameters for the general case when G-dependent cross biases are ignored. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.
      Parameters:
      params - array containing current parameters for the general purpose case when G-dependent cross biases are ignored. Must have length 9.
      Returns:
      estimated true angular rate squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

    • evaluateCommonAxis

      private double evaluateCommonAxis(double[] params) throws com.irurueta.numerical.EvaluationException
      Computes estimated true angular rate squared norm using current measured angular rate and provided parameters when common z-axis is assumed and G-dependent cross biases are ignored. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.
      Parameters:
      params - array containing current parameters for the common z-axis case when G-dependent cross biases are ignored. Must have length 6.
      Returns:
      estimated true angular rate squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

    • evaluate

      private double evaluate(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 estimated true angular rate squared norm using current measured angular rate and provided parameters. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.
      Parameters:
      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:
      estimated true angular rate squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

    • evaluate

      private double evaluate(double m11, double m21, double m31, double m12, double m22, double m32, double m13, double m23, double m33) throws com.irurueta.numerical.EvaluationException
      Computes estimated true angular rate squared norm using current measured angular rate and provided parameters. This method is internally executed during gradient estimation and Levenberg-Marquardt fittin needed for calibration computation.
      Parameters:
      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.
      Returns:
      estimated true angular rate squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.