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

Interface OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator

All Superinterfaces:
GyroscopeCalibrator
All Known Implementing Classes:
LMedSRobustKnownBiasAndFrameGyroscopeCalibrator, LMedSRobustKnownFrameGyroscopeCalibrator, MSACRobustKnownBiasAndFrameGyroscopeCalibrator, MSACRobustKnownFrameGyroscopeCalibrator, PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator, PROMedSRobustKnownFrameGyroscopeCalibrator, PROSACRobustKnownBiasAndFrameGyroscopeCalibrator, PROSACRobustKnownFrameGyroscopeCalibrator, RANSACRobustKnownBiasAndFrameGyroscopeCalibrator, RANSACRobustKnownFrameGyroscopeCalibrator, RobustKnownBiasAndFrameGyroscopeCalibrator, RobustKnownFrameGyroscopeCalibrator
public interface OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator extends GyroscopeCalibrator
Defines a gyroscope calibrator using ordered lists of StandardDeviationFrameBodyKinematics measurements.

  • Method Details

    • getMeasurements

      List<StandardDeviationFrameBodyKinematics> getMeasurements()
      Gets a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
      Returns:
      a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

    • setMeasurements

      void setMeasurements(List<StandardDeviationFrameBodyKinematics> measurements) throws com.irurueta.navigation.LockedException
      Sets a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
      Parameters:
      measurements - collection of body kinematics measurements taken at different frames (positions, orientations and velocities).
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.