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

Class MSACRobustKnownBiasAndFrameGyroscopeCalibrator

java.lang.Object

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

com.irurueta.navigation.inertial.calibration.gyroscope.MSACRobustKnownBiasAndFrameGyroscopeCalibrator

All Implemented Interfaces:

GyroscopeCalibrator, GyroscopeNonLinearCalibrator, KnownBiasGyroscopeCalibrator, OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator

public class MSACRobustKnownBiasAndFrameGyroscopeCalibrator
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 MSAC 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_THRESHOLD	Constant defining default threshold to determine whether samples are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double	threshold	Threshold to determine whether samples are inliers or not when testing possible solutions.

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
MSACRobustKnownBiasAndFrameGyroscopeCalibrator()	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)	Constructor.
MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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	getThreshold()	Gets threshold to determine whether samples are inliers or not when testing possible solutions.
boolean	isQualityScoresRequired()	Indicates whether this calibrator requires quality scores for each measurement/sequence or not.
void	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not when testing possible solutions.

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_THRESHOLD

public static final double DEFAULT_THRESHOLD

Constant defining default threshold to determine whether samples are inliers or not.

See Also:

• Constant Field Values

MIN_THRESHOLD

public static final double MIN_THRESHOLD

Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.

See Also:

• Constant Field Values

threshold

private double threshold

Threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

Constructor Details

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator()

Constructor.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

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

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)

Constructor.

Parameters:

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

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

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

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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).

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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).

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias)

Constructor.

Parameters:

bias - known gyroscope bias.

Throws:

IllegalArgumentException - if provided array does not have length 3.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

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

Constructor.

Parameters:

bias - known gyroscope bias.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

MSACRobustKnownBiasAndFrameGyroscopeCalibrator

public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(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

getThreshold

public double getThreshold()

Gets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on norm between measured angular rates and the ones generated with estimated calibration parameters provided for each sample.

Returns:

threshold to determine whether samples are inliers or not.

setThreshold

public void setThreshold(double threshold)
                  throws com.irurueta.navigation.LockedException

Sets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on norm between measured angular rates and the ones generated with estimated calibration parameters provided for each sample.

Parameters:

threshold - threshold to determine whether samples are inliers or not.

Throws:

IllegalArgumentException - if provided value is equal or less than zero.

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.