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

Class LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownBiasAndFrameGyroscopeCalibrator

com.irurueta.navigation.inertial.calibration.gyroscope.LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

All Implemented Interfaces:

GyroscopeCalibrator, GyroscopeNonLinearCalibrator, KnownBiasGyroscopeCalibrator, OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator

public class LMedSRobustKnownBiasAndFrameGyroscopeCalibrator
extends RobustKnownBiasAndFrameGyroscopeCalibrator

Robustly 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 using an LMedS algorithm to discard outliers. This estimator assumes that biases are known.

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

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

     Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w
 

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

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownBiasAndFrameGyroscopeCalibrator

RobustKnownBiasAndFrameGyroscopeCalibrator.PreliminaryResult

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_STOP_THRESHOLD	Default value to be used for stop threshold.
static final double	MIN_STOP_THRESHOLD	Minimum allowed stop threshold value.
private double	stopThreshold	Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.

Fields inherited from class com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownBiasAndFrameGyroscopeCalibrator

confidence, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_PRELIMINARY_SOLUTIONS, DEFAULT_REFINE_RESULT, DEFAULT_ROBUST_METHOD, DEFAULT_USE_COMMON_Z_AXIS, DEFAULT_USE_LINEAR_CALIBRATOR, inliersData, listener, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, measurements, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, MINIMUM_MEASUREMENTS, preliminarySubsetSize, progressDelta, refineResult, running

Constructor Summary

Constructors

Constructor	Description
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator()	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	calibrate()	Estimates gyroscope calibration parameters containing bias, scale factors cross-coupling errors and g-dependant cross biases.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double	getStopThreshold()	Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.
boolean	isQualityScoresRequired()	Indicates whether this calibrator requires quality scores for each measurement/sequence or not.
void	setStopThreshold(double stopThreshold)	Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.

Methods inherited from class com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownBiasAndFrameGyroscopeCalibrator

attemptRefine, computeError, computePreliminarySolutions, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getBias, getBias, getBiasAngularSpeedX, getBiasAngularSpeedX, getBiasAngularSpeedY, getBiasAngularSpeedY, getBiasAngularSpeedZ, getBiasAngularSpeedZ, getBiasAsMatrix, getBiasAsMatrix, getBiasAsTriad, getBiasAsTriad, getBiasX, getBiasY, getBiasZ, getConfidence, getEstimatedChiSq, getEstimatedCovariance, getEstimatedGg, getEstimatedMg, getEstimatedMse, getEstimatedMxy, getEstimatedMxz, getEstimatedMyx, getEstimatedMyz, getEstimatedMzx, getEstimatedMzy, getEstimatedSx, getEstimatedSy, getEstimatedSz, getInitialGg, getInitialGg, getInitialMg, getInitialMg, getInitialMxy, getInitialMxz, getInitialMyx, getInitialMyz, getInitialMzx, getInitialMzy, getInitialSx, getInitialSy, getInitialSz, getInliersData, getListener, getMaxIterations, getMeasurementOrSequenceType, getMeasurements, getMinimumRequiredMeasurementsOrSequences, getPreliminarySubsetSize, getProgressDelta, getQualityScores, isCommonAxisUsed, isCovarianceKept, isLinearCalibratorUsed, isOrderedMeasurementsOrSequencesRequired, isPreliminarySolutionRefined, isReady, isResultRefined, isRunning, setBias, setBias, setBias, setBiasCoordinates, setBiasCoordinates, setBiasX, setBiasX, setBiasY, setBiasY, setBiasZ, setBiasZ, setCommonAxisUsed, setConfidence, setCovarianceKept, setInitialCrossCouplingErrors, setInitialGg, setInitialMg, setInitialMxy, setInitialMxz, setInitialMyx, setInitialMyz, setInitialMzx, setInitialMzy, setInitialScalingFactors, setInitialScalingFactorsAndCrossCouplingErrors, setInitialSx, setInitialSy, setInitialSz, setLinearCalibratorUsed, setListener, setMaxIterations, setMeasurements, setPreliminarySolutionRefined, setPreliminarySubsetSize, setProgressDelta, setQualityScores, setResultRefined

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_STOP_THRESHOLD

public static final double DEFAULT_STOP_THRESHOLD

Default value to be used for stop threshold. Stop threshold can be used to avoid keeping the algorithm unnecessarily iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

See Also:

• Constant Field Values

MIN_STOP_THRESHOLD

public static final double MIN_STOP_THRESHOLD

Minimum allowed stop threshold value.

See Also:

• Constant Field Values

stopThreshold

private double stopThreshold

Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Constructor Details

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator()

Constructor.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

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

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(boolean commonAxisUsed,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

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

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

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

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

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

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX,
 double biasY,
 double biasZ)

Constructor.

Parameters:

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

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

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

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX,
 double biasY,
 double biasZ,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

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

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

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

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double biasX,
 double biasY,
 double biasZ)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

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

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

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

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double biasX,
 double biasY,
 double biasZ,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

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

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

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

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX,
 double biasY,
 double biasZ,
 boolean commonAxisUsed)

Constructor.

Parameters:

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

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

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

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

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX,
 double biasY,
 double biasZ,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

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

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

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

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

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double biasX,
 double biasY,
 double biasZ,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

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

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

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

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

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double biasX,
 double biasY,
 double biasZ,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

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

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

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

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

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX,
 com.irurueta.units.AngularSpeed biasY,
 com.irurueta.units.AngularSpeed biasZ)

Constructor.

Parameters:

biasX - known x coordinate of gyroscope bias.

biasY - known y coordinate of gyroscope bias.

biasZ - known z coordinate of gyroscope bias.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX,
 com.irurueta.units.AngularSpeed biasY,
 com.irurueta.units.AngularSpeed biasZ,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

biasX - known x coordinate of gyroscope bias.

biasY - known y coordinate of gyroscope bias.

biasZ - known z coordinate of gyroscope bias.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.units.AngularSpeed biasX,
 com.irurueta.units.AngularSpeed biasY,
 com.irurueta.units.AngularSpeed biasZ)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

biasX - known x coordinate of gyroscope bias.

biasY - known y coordinate of gyroscope bias.

biasZ - known z coordinate of gyroscope bias.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.units.AngularSpeed biasX,
 com.irurueta.units.AngularSpeed biasY,
 com.irurueta.units.AngularSpeed biasZ,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

biasX - known x coordinate of gyroscope bias.

biasY - known y coordinate of gyroscope bias.

biasZ - known z coordinate of gyroscope bias.

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX,
 com.irurueta.units.AngularSpeed biasY,
 com.irurueta.units.AngularSpeed biasZ,
 boolean commonAxisUsed)

Constructor.

Parameters:

biasX - known x coordinate of gyroscope bias.

biasY - known y coordinate of gyroscope bias.

biasZ - known z coordinate of gyroscope bias.

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

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX,
 com.irurueta.units.AngularSpeed biasY,
 com.irurueta.units.AngularSpeed biasZ,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

biasX - known x coordinate of gyroscope bias.

biasY - known y coordinate of gyroscope bias.

biasZ - known z coordinate of gyroscope bias.

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

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.units.AngularSpeed biasX,
 com.irurueta.units.AngularSpeed biasY,
 com.irurueta.units.AngularSpeed biasZ,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

biasX - known x coordinate of gyroscope bias.

biasY - known y coordinate of gyroscope bias.

biasZ - known z coordinate of gyroscope bias.

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

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.units.AngularSpeed biasX,
 com.irurueta.units.AngularSpeed biasY,
 com.irurueta.units.AngularSpeed biasZ,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

biasX - known x coordinate of gyroscope bias.

biasY - known y coordinate of gyroscope bias.

biasZ - known z coordinate of gyroscope bias.

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

listener - listener to handle events raised by this calibrator.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias)

Constructor.

Parameters:

bias - known gyroscope bias.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

bias - known gyroscope bias.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double[] bias)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known gyroscope bias.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double[] bias,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known gyroscope bias.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias,
 boolean commonAxisUsed)

Constructor.

Parameters:

bias - known gyroscope bias.

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

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

bias - known gyroscope bias.

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

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double[] bias,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known gyroscope bias.

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

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 double[] bias,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known gyroscope bias.

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

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided array does not have length 3.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias)

Constructor.

Parameters:

bias - known gyroscope bias.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

bias - known gyroscope bias.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known gyroscope bias.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known gyroscope bias.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias,
 boolean commonAxisUsed)

Constructor.

Parameters:

bias - known gyroscope bias.

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

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

bias - known gyroscope bias.

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

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known gyroscope bias.

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

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

LMedSRobustKnownBiasAndFrameGyroscopeCalibrator

public LMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 boolean commonAxisUsed,
 RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

bias - known gyroscope bias.

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

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

Method Details

getStopThreshold

public double getStopThreshold()

Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Returns:

stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

setStopThreshold

public void setStopThreshold(double stopThreshold)
                      throws com.irurueta.navigation.LockedException

Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Parameters:

stopThreshold - stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

Throws:

IllegalArgumentException - if provided value is zero or negative.

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

calibrate

public void calibrate()
               throws com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Estimates gyroscope calibration parameters containing bias, scale factors cross-coupling errors and g-dependant cross biases.

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.

getMethod

public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()

Returns method being used for robust estimation.

Specified by:

getMethod in class RobustKnownBiasAndFrameGyroscopeCalibrator

Returns:

method being used for robust estimation.

isQualityScoresRequired

public boolean isQualityScoresRequired()

Indicates whether this calibrator requires quality scores for each measurement/sequence or not.

Returns:

true if quality scores are required, false otherwise.