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

Class LMedSRobustTurntableGyroscopeCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.gyroscope.RobustTurntableGyroscopeCalibrator
com.irurueta.navigation.inertial.calibration.gyroscope.LMedSRobustTurntableGyroscopeCalibrator
All Implemented Interfaces:
AccelerometerDependentGyroscopeCalibrator, GyroscopeCalibrator, GyroscopeNonLinearCalibrator, OrderedStandardDeviationBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator, UnknownBiasGyroscopeCalibrator, GyroscopeBiasUncertaintySource, GyroscopeCalibrationSource
public class LMedSRobustTurntableGyroscopeCalibrator extends RobustTurntableGyroscopeCalibrator
Robustly estimates gyroscope biases, cross couplings and scaling factors along with G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer using LMedS robust estimator.

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 10 measurements are needed when common z-axis is assumed and G-dependent cross biases are ignored, otherwise at least 13 measurements are required when common z-axis is not assumed. If G-dependent cross biases are being estimated, then at least 19 measurements are needed when common z-axis is assumed, otherwise at least 22 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 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:

    • MIN_STOP_THRESHOLD

      public static final double MIN_STOP_THRESHOLD
      Minimum allowed stop threshold value.
      See Also:

    • 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

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator()
      Constructor.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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.

    • LMedSRobustTurntableGyroscopeCalibrator

      public LMedSRobustTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustTurntableGyroscopeCalibratorListener 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.
      initialBias - initial gyroscope bias to be used to find a solution. 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

    • 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 RobustTurntableGyroscopeCalibrator
      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.