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

Class RANSACRobustKnownFrameGyroscopeCalibrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownFrameGyroscopeCalibrator

com.irurueta.navigation.inertial.calibration.gyroscope.RANSACRobustKnownFrameGyroscopeCalibrator

All Implemented Interfaces:

GyroscopeCalibrator, GyroscopeNonLinearCalibrator, OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator, UnknownBiasGyroscopeCalibrator, UnknownBiasNonLinearGyroscopeCalibrator, GyroscopeBiasUncertaintySource, GyroscopeCalibrationSource

public class RANSACRobustKnownFrameGyroscopeCalibrator
extends RobustKnownFrameGyroscopeCalibrator

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 a RANSAC algorithm to discard outliers.

To use this calibrator at least 7 measurements at different known frames must be provided. In other words, accelerometer and gyroscope (i.e. body kinematics) samples must be obtained at 7 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.RobustKnownFrameGyroscopeCalibrator

RobustKnownFrameGyroscopeCalibrator.PreliminaryResult

Field Summary

Fields

Modifier and Type	Field	Description
private boolean	computeAndKeepInliers	Indicates whether inliers must be computed and kept.
private boolean	computeAndKeepResiduals	Indicates whether residuals must be computed and kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_INLIERS	Indicates that by default inliers will only be computed but not kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_RESIDUALS	Indicates that by default residuals will only be computed but not kept.
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.RobustKnownFrameGyroscopeCalibrator

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
RANSACRobustKnownFrameGyroscopeCalibrator()	Constructor.
RANSACRobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed)	Constructor.
RANSACRobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)	Constructor.
RANSACRobustKnownFrameGyroscopeCalibrator(RobustKnownFrameGyroscopeCalibratorListener listener)	Constructor.
RANSACRobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)	Constructor.
RANSACRobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)	Constructor.
RANSACRobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)	Constructor.
RANSACRobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener 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	isComputeAndKeepInliersEnabled()	Indicates whether inliers must be computed and kept.
boolean	isComputeAndKeepResiduals()	Indicates whether residuals must be computed and kept.
boolean	isQualityScoresRequired()	Indicates whether this calibrator requires quality scores for each measurement/sequence or not.
void	setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)	Specifies whether inliers must be computed and kept.
void	setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)	Specifies whether residuals must be computed and kept.
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.RobustKnownFrameGyroscopeCalibrator

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, getConfidence, getEstimatedBiasAngularSpeedX, getEstimatedBiasAngularSpeedX, getEstimatedBiasAngularSpeedY, getEstimatedBiasAngularSpeedY, getEstimatedBiasAngularSpeedZ, getEstimatedBiasAngularSpeedZ, getEstimatedBiasAsTriad, getEstimatedBiasAsTriad, getEstimatedBiases, getEstimatedBiases, getEstimatedBiasesAsMatrix, getEstimatedBiasesAsMatrix, getEstimatedBiasStandardDeviation, getEstimatedBiasStandardDeviation, getEstimatedBiasStandardDeviationAverage, getEstimatedBiasStandardDeviationAverageAsAngularSpeed, getEstimatedBiasStandardDeviationAverageAsAngularSpeed, getEstimatedBiasStandardDeviationNorm, getEstimatedBiasStandardDeviationNormAsAngularSpeed, getEstimatedBiasStandardDeviationNormAsAngularSpeed, getEstimatedBiasX, getEstimatedBiasXStandardDeviation, getEstimatedBiasXStandardDeviationAsAngularSpeed, getEstimatedBiasXStandardDeviationAsAngularSpeed, getEstimatedBiasXVariance, getEstimatedBiasY, getEstimatedBiasYStandardDeviation, getEstimatedBiasYStandardDeviationAsAngularSpeed, getEstimatedBiasYStandardDeviationAsAngularSpeed, getEstimatedBiasYVariance, getEstimatedBiasZ, getEstimatedBiasZStandardDeviation, getEstimatedBiasZStandardDeviationAsAngularSpeed, getEstimatedBiasZStandardDeviationAsAngularSpeed, getEstimatedBiasZVariance, getEstimatedChiSq, getEstimatedCovariance, getEstimatedGg, getEstimatedMg, getEstimatedMse, getEstimatedMxy, getEstimatedMxz, getEstimatedMyx, getEstimatedMyz, getEstimatedMzx, getEstimatedMzy, getEstimatedSx, getEstimatedSy, getEstimatedSz, getInitialBias, getInitialBias, getInitialBiasAngularSpeedX, getInitialBiasAngularSpeedX, getInitialBiasAngularSpeedY, getInitialBiasAngularSpeedY, getInitialBiasAngularSpeedZ, getInitialBiasAngularSpeedZ, getInitialBiasAsMatrix, getInitialBiasAsMatrix, getInitialBiasAsTriad, getInitialBiasAsTriad, getInitialBiasX, getInitialBiasY, getInitialBiasZ, 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, setCommonAxisUsed, setConfidence, setCovarianceKept, setInitialBias, setInitialBias, setInitialBias, setInitialBias, setInitialBias, setInitialBiasX, setInitialBiasX, setInitialBiasY, setInitialBiasY, setInitialBiasZ, setInitialBiasZ, 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

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:

• Constant Field Values

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:

• 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.

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

RANSACRobustKnownFrameGyroscopeCalibrator

public RANSACRobustKnownFrameGyroscopeCalibrator()

Constructor.

RANSACRobustKnownFrameGyroscopeCalibrator

public RANSACRobustKnownFrameGyroscopeCalibrator(RobustKnownFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

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

RANSACRobustKnownFrameGyroscopeCalibrator

public RANSACRobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)

Constructor.

Parameters:

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

RANSACRobustKnownFrameGyroscopeCalibrator

public RANSACRobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 RobustKnownFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

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

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

RANSACRobustKnownFrameGyroscopeCalibrator

public RANSACRobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

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

RANSACRobustKnownFrameGyroscopeCalibrator

public RANSACRobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener 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.

RANSACRobustKnownFrameGyroscopeCalibrator

public RANSACRobustKnownFrameGyroscopeCalibrator(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.

RANSACRobustKnownFrameGyroscopeCalibrator

public RANSACRobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener 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.

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 RobustKnownFrameGyroscopeCalibrator

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.