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

Class RobustEasyGyroscopeCalibrator.PreliminaryResult

java.lang.Object

com.irurueta.navigation.inertial.calibration.gyroscope.RobustEasyGyroscopeCalibrator.PreliminaryResult

Enclosing class:

RobustEasyGyroscopeCalibrator

protected static class RobustEasyGyroscopeCalibrator.PreliminaryResult
extends Object

Internal class containing estimated preliminary result.

Field Summary

Fields

Modifier and Type	Field	Description
private com.irurueta.algebra.Matrix	covariance	Covariance matrix for estimated result.
private double[]	estimatedBiases	Estimated gyroscope biases for each IMU axis expressed in radians per second (rad/s).
private double	estimatedChiSq	Estimated chi square value.
private com.irurueta.algebra.Matrix	estimatedGg	Estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
private com.irurueta.algebra.Matrix	estimatedMg	Estimated gyroscope scale factors and cross coupling errors.
private double	estimatedMse	Estimated Mean Square Error.

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	PreliminaryResult()

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

estimatedBiases

private double[] estimatedBiases

Estimated gyroscope biases for each IMU axis expressed in radians per second (rad/s).

estimatedMg

private com.irurueta.algebra.Matrix estimatedMg

Estimated gyroscope scale factors and cross coupling errors. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So that:

     Mg = [sx    mxy  mxz] = Tg*Kg
          [myx   sy   myz]
          [mzx   mzy  sz ]
 

Where:

     Kg = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
 

and

     Tg = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
 

Hence:

     Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
 

This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the gyroscope z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix becomes upper diagonal:

     Mg = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
 

Values of this matrix are unit-less.

estimatedGg

private com.irurueta.algebra.Matrix estimatedGg

Estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. This instance allows any 3x3 matrix.

covariance

private com.irurueta.algebra.Matrix covariance

Covariance matrix for estimated result.

estimatedMse

private double estimatedMse

Estimated Mean Square Error.

estimatedChiSq

private double estimatedChiSq

Estimated chi square value.

Constructor Details

PreliminaryResult

protected PreliminaryResult()