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

Class RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownBiasAndFrameGyroscopeCalibrator
com.irurueta.navigation.inertial.calibration.gyroscope.RANSACRobustKnownBiasAndFrameGyroscopeCalibrator
All Implemented Interfaces:
GyroscopeCalibrator, GyroscopeNonLinearCalibrator, KnownBiasGyroscopeCalibrator, OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator
public class RANSACRobustKnownBiasAndFrameGyroscopeCalibrator 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 a RANSAC 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.

  • Field Details

    • DEFAULT_THRESHOLD

      public static final double DEFAULT_THRESHOLD
      Constant defining default threshold to determine whether samples are inliers or not.
      See Also:

    • 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:

    • DEFAULT_COMPUTE_AND_KEEP_INLIERS

      public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS
      Indicates that by default inliers will only be computed but not kept.
      See Also:

    • DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

      public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS
      Indicates that by default residuals will only be computed but not kept.
      See Also:

    • 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.

    • computeAndKeepInliers

      private boolean computeAndKeepInliers
      Indicates whether inliers must be computed and kept.

    • computeAndKeepResiduals

      private boolean computeAndKeepResiduals
      Indicates whether residuals must be computed and kept.

  • Constructor Details

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator()
      Constructor.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(boolean commonAxisUsed)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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).

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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).

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias)
      Constructor.
      Parameters:
      bias - known gyroscope bias.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      bias - known gyroscope bias.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • RANSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public RANSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • isComputeAndKeepInliersEnabled

      public boolean isComputeAndKeepInliersEnabled()
      Indicates whether inliers must be computed and kept.
      Returns:
      true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

    • setComputeAndKeepInliersEnabled

      public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers) throws com.irurueta.navigation.LockedException
      Specifies whether inliers must be computed and kept.
      Parameters:
      computeAndKeepInliers - true if inliers must be computed and kept, false if inliers only need to be computed but not kept.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isComputeAndKeepResiduals

      public boolean isComputeAndKeepResiduals()
      Indicates whether residuals must be computed and kept.
      Returns:
      true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

    • setComputeAndKeepResidualsEnabled

      public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals) throws com.irurueta.navigation.LockedException
      Specifies whether residuals must be computed and kept.
      Parameters:
      computeAndKeepResiduals - true if residuals must be computed and kept, false if residuals only need to be computed but not kept.
      Throws:
      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.