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

Class RobustEasyGyroscopeCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.gyroscope.RobustEasyGyroscopeCalibrator
All Implemented Interfaces:
AccelerometerDependentGyroscopeCalibrator, GyroscopeCalibrator, GyroscopeNonLinearCalibrator, OrderedBodyKinematicsSequenceGyroscopeCalibrator, QualityScoredGyroscopeCalibrator, UnknownBiasGyroscopeCalibrator, GyroscopeBiasUncertaintySource, GyroscopeCalibrationSource
Direct Known Subclasses:
LMedSRobustEasyGyroscopeCalibrator, MSACRobustEasyGyroscopeCalibrator, PROMedSRobustEasyGyroscopeCalibrator, PROSACRobustEasyGyroscopeCalibrator, RANSACRobustEasyGyroscopeCalibrator
public abstract class RobustEasyGyroscopeCalibrator extends Object implements GyroscopeNonLinearCalibrator, UnknownBiasGyroscopeCalibrator, GyroscopeCalibrationSource, GyroscopeBiasUncertaintySource, OrderedBodyKinematicsSequenceGyroscopeCalibrator, QualityScoredGyroscopeCalibrator, AccelerometerDependentGyroscopeCalibrator
This is an abstract class to robustly estimate 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.

This calibrator assumes that the IMU is at a more or less fixed location on Earth, and evaluates sequences of measured body kinematics to perform calibration for unknown orientations on those provided sequences. Each provided sequence will be preceded by a static period where mean specific force will be measured to determine gravity (and hence partial body attitude).

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_USE_COMMON_Z_AXIS

      public static final boolean DEFAULT_USE_COMMON_Z_AXIS
      Indicates whether by default a common z-axis is assumed for both the accelerometer and gyroscope.
      See Also:

    • DEFAULT_ESTIMATE_G_DEPENDENT_CROSS_BIASES

      public static final boolean DEFAULT_ESTIMATE_G_DEPENDENT_CROSS_BIASES
      Indicates that by default G-dependent cross biases introduced by the accelerometer on the gyroscope are estimated.
      See Also:

    • DEFAULT_ROBUST_METHOD

      public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD
      Default robust estimator method when none is provided.

    • DEFAULT_REFINE_RESULT

      public static final boolean DEFAULT_REFINE_RESULT
      Indicates that result is refined by default using a non-linear calibrator (which uses a Levenberg-Marquardt fitter).
      See Also:

    • DEFAULT_KEEP_COVARIANCE

      public static final boolean DEFAULT_KEEP_COVARIANCE
      Indicates that covariance is kept by default after refining result.
      See Also:

    • DEFAULT_PROGRESS_DELTA

      public static final float DEFAULT_PROGRESS_DELTA
      Default amount of progress variation before notifying a change in estimation progress. By default this is set to 5%.
      See Also:

    • MIN_PROGRESS_DELTA

      public static final float MIN_PROGRESS_DELTA
      Minimum allowed value for progress delta.
      See Also:

    • MAX_PROGRESS_DELTA

      public static final float MAX_PROGRESS_DELTA
      Maximum allowed value for progress delta.
      See Also:

    • DEFAULT_CONFIDENCE

      public static final double DEFAULT_CONFIDENCE
      Constant defining default confidence of the estimated result, which is 99%. This means that with a probability of 99% estimation will be accurate because chosen sub-samples will be inliers.
      See Also:

    • DEFAULT_MAX_ITERATIONS

      public static final int DEFAULT_MAX_ITERATIONS
      Default maximum allowed number of iterations.
      See Also:

    • MIN_CONFIDENCE

      public static final double MIN_CONFIDENCE
      Minimum allowed confidence value.
      See Also:

    • MAX_CONFIDENCE

      public static final double MAX_CONFIDENCE
      Maximum allowed confidence value.
      See Also:

    • MIN_ITERATIONS

      public static final int MIN_ITERATIONS
      Minimum allowed number of iterations.
      See Also:

    • accelerometerBiasX

      private double accelerometerBiasX
      Known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

    • accelerometerBiasY

      private double accelerometerBiasY
      Known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

    • accelerometerBiasZ

      private double accelerometerBiasZ
      Known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

    • accelerometerSx

      private double accelerometerSx
      Known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

    • accelerometerSy

      private double accelerometerSy
      Known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

    • accelerometerSz

      private double accelerometerSz
      Known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

    • accelerometerMxy

      private double accelerometerMxy
      Known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

    • accelerometerMxz

      private double accelerometerMxz
      Know accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

    • accelerometerMyx

      private double accelerometerMyx
      Known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

    • accelerometerMyz

      private double accelerometerMyz
      Known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

    • accelerometerMzx

      private double accelerometerMzx
      Known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

    • accelerometerMzy

      private double accelerometerMzy
      Known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

    • initialBiasX

      private double initialBiasX
      Initial x-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

    • initialBiasY

      private double initialBiasY
      Initial y-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

    • initialBiasZ

      private double initialBiasZ
      Initial z-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

    • initialSx

      private double initialSx
      Initial gyroscope x scaling factor.

    • initialSy

      private double initialSy
      Initial gyroscope y scaling factor.

    • initialSz

      private double initialSz
      Initial gyroscope z scaling factor.

    • initialMxy

      private double initialMxy
      Initial gyroscope x-y cross coupling error.

    • initialMxz

      private double initialMxz
      Initial gyroscope x-z cross coupling error.

    • initialMyx

      private double initialMyx
      Initial gyroscope y-x cross coupling error.

    • initialMyz

      private double initialMyz
      Initial gyroscope y-z cross coupling error.

    • initialMzx

      private double initialMzx
      Initial gyroscope z-x cross coupling error.

    • initialMzy

      private double initialMzy
      Initial gyroscope z-y cross coupling error.

    • initialGg

      private com.irurueta.algebra.Matrix initialGg
      Initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

    • sequences

      protected List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences
      Contains a collection of sequences of timestamped body kinematics measurements taken at a given position where the device moves freely with different orientations.

    • commonAxisUsed

      private boolean commonAxisUsed
      This flag indicates whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Mg matrix.

    • estimateGDependentCrossBiases

      private boolean estimateGDependentCrossBiases
      This flag indicates whether G-dependent cross biases are being estimated or not. When enabled, this adds 9 variables from Gg matrix.

    • listener

      protected RobustEasyGyroscopeCalibratorListener listener
      Listener to be notified of events such as when calibration starts, ends or its progress significantly changes.

    • estimatedBiases

      private double[] estimatedBiases
      Estimated angular rate 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.

    • estimatedCovariance

      private com.irurueta.algebra.Matrix estimatedCovariance
      Estimated covariance matrix for estimated parameters.

    • estimatedChiSq

      private double estimatedChiSq
      Estimated chi square value.

    • estimatedMse

      private double estimatedMse
      Estimated mean square error respect to provided measurements.

    • running

      protected boolean running
      Indicates whether calibrator is running.

    • progressDelta

      protected float progressDelta
      Amount of progress variation before notifying a progress change during calibration.

    • confidence

      protected double confidence
      Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.

    • maxIterations

      protected int maxIterations
      Maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.

    • inliersData

      protected com.irurueta.numerical.robust.InliersData inliersData
      Data related to inliers found after calibration.

    • refineResult

      protected boolean refineResult
      Indicates whether result must be refined using a non linear calibrator over found inliers. If true, inliers will be computed and kept in any implementation regardless of the settings.

    • preliminarySubsetSize

      protected int preliminarySubsetSize
      Size of subsets to be checked during robust estimation.

    • keepCovariance

      private boolean keepCovariance
      Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.

    • innerCalibrator

      private final EasyGyroscopeCalibrator innerCalibrator
      Inner non-robust calibrator.

    • startPoint

      private final com.irurueta.geometry.InhomogeneousPoint3D startPoint
      Contains normalized start gravity coordinates. This is reused when computing error residuals.

    • endPoint

      private final com.irurueta.geometry.InhomogeneousPoint3D endPoint
      Contains estimated normalized end gravity coordinates. This is reused when computing error residuals.

    • expectedEndPoint

      private final com.irurueta.geometry.InhomogeneousPoint3D expectedEndPoint
      Contains expected normalized end gravity coordinates. This is reused when computing error residuals.

    • q

      private final com.irurueta.geometry.Quaternion q
      Contains amount of rotation for a given sequence and preliminary solution. This is reused when computing error residuals.

    • measuredSpecificForce

      private final double[] measuredSpecificForce
      Array containing measured specific force coordinates. This is reused when computing error residuals.

    • fixedSpecificForce

      private final double[] fixedSpecificForce
      Array containing fixed specific force coordinates. This is reused when computing error residuals.

    • measuredAngularRate

      private final double[] measuredAngularRate
      Array containing measured angular rate coordinates. This is reused when computing error residuals.

    • fixedAngularRate

      private final double[] fixedAngularRate
      Array containing fixed angular rate coordinates. This is reused when computing error residuals.

    • accelerationFixer

      private final AccelerationFixer accelerationFixer
      An acceleration fixer. This is reused when computing error residuals.

    • angularRateFixer

      private final AngularRateFixer angularRateFixer
      An angular rate fixer. This is reused when computing error residuals.

  • Constructor Details

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator()
      Constructor.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must be 3x1 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must be 3x1 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • RobustEasyGyroscopeCalibrator

      protected RobustEasyGyroscopeCalibrator(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

  • Method Details

    • getAccelerometerBiasX

      public double getAccelerometerBiasX()
      Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getAccelerometerBiasX in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known x-coordinate of accelerometer bias.

    • setAccelerometerBiasX

      public void setAccelerometerBiasX(double accelerometerBiasX) throws com.irurueta.navigation.LockedException
      Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setAccelerometerBiasX in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerBiasX - known x-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBiasY

      public double getAccelerometerBiasY()
      Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getAccelerometerBiasY in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known y-coordinate of accelerometer bias.

    • setAccelerometerBiasY

      public void setAccelerometerBiasY(double accelerometerBiasY) throws com.irurueta.navigation.LockedException
      Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setAccelerometerBiasY in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerBiasY - known y-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBiasZ

      public double getAccelerometerBiasZ()
      Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getAccelerometerBiasZ in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known z-coordinate of accelerometer bias.

    • setAccelerometerBiasZ

      public void setAccelerometerBiasZ(double accelerometerBiasZ) throws com.irurueta.navigation.LockedException
      Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setAccelerometerBiasZ in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerBiasZ - known z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBiasXAsAcceleration

      public com.irurueta.units.Acceleration getAccelerometerBiasXAsAcceleration()
      Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerBiasXAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known x-coordinate of accelerometer bias.

    • getAccelerometerBiasXAsAcceleration

      public void getAccelerometerBiasXAsAcceleration(com.irurueta.units.Acceleration result)
      Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerBiasXAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setAccelerometerBiasX

      public void setAccelerometerBiasX(com.irurueta.units.Acceleration accelerometerBiasX) throws com.irurueta.navigation.LockedException
      Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerBiasX in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerBiasX - x-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBiasYAsAcceleration

      public com.irurueta.units.Acceleration getAccelerometerBiasYAsAcceleration()
      Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerBiasYAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known y-coordinate of accelerometer bias.

    • getAccelerometerBiasYAsAcceleration

      public void getAccelerometerBiasYAsAcceleration(com.irurueta.units.Acceleration result)
      Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerBiasYAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setAccelerometerBiasY

      public void setAccelerometerBiasY(com.irurueta.units.Acceleration accelerometerBiasY) throws com.irurueta.navigation.LockedException
      Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerBiasY in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerBiasY - y-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBiasZAsAcceleration

      public com.irurueta.units.Acceleration getAccelerometerBiasZAsAcceleration()
      Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerBiasZAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known z-coordinate of accelerometer bias.

    • getAccelerometerBiasZAsAcceleration

      public void getAccelerometerBiasZAsAcceleration(com.irurueta.units.Acceleration result)
      Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerBiasZAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setAccelerometerBiasZ

      public void setAccelerometerBiasZ(com.irurueta.units.Acceleration accelerometerBiasZ) throws com.irurueta.navigation.LockedException
      Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerBiasZ in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerBiasZ - z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setAccelerometerBias

      public void setAccelerometerBias(double accelerometerBiasX, double accelerometerBiasY, double accelerometerBiasZ) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerBiasX - x-coordinate of accelerometer bias.
      accelerometerBiasY - y-coordinate of accelerometer bias.
      accelerometerBiasZ - z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setAccelerometerBias

      public void setAccelerometerBias(com.irurueta.units.Acceleration accelerometerBiasX, com.irurueta.units.Acceleration accelerometerBiasY, com.irurueta.units.Acceleration accelerometerBiasZ) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerBiasX - x-coordinate of accelerometer bias.
      accelerometerBiasY - y-coordinate of accelerometer bias.
      accelerometerBiasZ - z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerBias

      public double[] getAccelerometerBias()
      Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer bias.

    • getAccelerometerBias

      public void getAccelerometerBias(double[] result)
      Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setAccelerometerBias

      public void setAccelerometerBias(double[] accelerometerBias) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerBias - known accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getAccelerometerBiasAsMatrix

      public com.irurueta.algebra.Matrix getAccelerometerBiasAsMatrix()
      Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getAccelerometerBiasAsMatrix in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer bias.

    • getAccelerometerBiasAsMatrix

      public void getAccelerometerBiasAsMatrix(com.irurueta.algebra.Matrix result)
      Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getAccelerometerBiasAsMatrix in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • setAccelerometerBias

      public void setAccelerometerBias(com.irurueta.algebra.Matrix accelerometerBias) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerBias - known accelerometer bias. Must be 3x1.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x1.

    • getAccelerometerSx

      public double getAccelerometerSx()
      Gets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerSx in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer x scaling factor.

    • setAccelerometerSx

      public void setAccelerometerSx(double accelerometerSx) throws com.irurueta.navigation.LockedException
      Sets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerSx in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerSx - known accelerometer x scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerSy

      public double getAccelerometerSy()
      Gets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerSy in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer y scaling factor.

    • setAccelerometerSy

      public void setAccelerometerSy(double accelerometerSy) throws com.irurueta.navigation.LockedException
      Sets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerSy in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerSy - known accelerometer y scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerSz

      public double getAccelerometerSz()
      Gets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerSz in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer z scaling factor.

    • setAccelerometerSz

      public void setAccelerometerSz(double accelerometerSz) throws com.irurueta.navigation.LockedException
      Sets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerSz in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerSz - known accelerometer z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMxy

      public double getAccelerometerMxy()
      Gets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerMxy in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer x-y cross coupling error.

    • setAccelerometerMxy

      public void setAccelerometerMxy(double accelerometerMxy) throws com.irurueta.navigation.LockedException
      Sets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerMxy in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerMxy - known accelerometer x-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMxz

      public double getAccelerometerMxz()
      Gets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerMxz in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer x-z cross coupling error.

    • setAccelerometerMxz

      public void setAccelerometerMxz(double accelerometerMxz) throws com.irurueta.navigation.LockedException
      Sets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerMxz in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerMxz - known accelerometer x-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMyx

      public double getAccelerometerMyx()
      Gets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerMyx in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer y-x cross coupling error.

    • setAccelerometerMyx

      public void setAccelerometerMyx(double accelerometerMyx) throws com.irurueta.navigation.LockedException
      Sets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerMyx in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerMyx - known accelerometer y-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMyz

      public double getAccelerometerMyz()
      Gets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerMyz in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer y-z cross coupling error.

    • setAccelerometerMyz

      public void setAccelerometerMyz(double accelerometerMyz) throws com.irurueta.navigation.LockedException
      Sets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerMyz in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerMyz - known accelerometer y-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMzx

      public double getAccelerometerMzx()
      Gets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerMzx in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer z-x cross coupling error.

    • setAccelerometerMzx

      public void setAccelerometerMzx(double accelerometerMzx) throws com.irurueta.navigation.LockedException
      Sets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerMzx in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerMzx - known accelerometer z-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMzy

      public double getAccelerometerMzy()
      Gets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      getAccelerometerMzy in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer z-y cross coupling error.

    • setAccelerometerMzy

      public void setAccelerometerMzy(double accelerometerMzy) throws com.irurueta.navigation.LockedException
      Sets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerMzy in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerMzy - known accelerometer z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setAccelerometerScalingFactors

      public void setAccelerometerScalingFactors(double accelerometerSx, double accelerometerSy, double accelerometerSz) throws com.irurueta.navigation.LockedException
      Sets known accelerometer scaling factors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerScalingFactors in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerSx - known accelerometer x scaling factor.
      accelerometerSy - known accelerometer y scaling factor.
      accelerometerSz - known accelerometer z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setAccelerometerCrossCouplingErrors

      public void setAccelerometerCrossCouplingErrors(double accelerometerMxy, double accelerometerMxz, double accelerometerMyx, double accelerometerMyz, double accelerometerMzx, double accelerometerMzy) throws com.irurueta.navigation.LockedException
      Sets known accelerometer cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerCrossCouplingErrors in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerMxy - known accelerometer x-y cross coupling error.
      accelerometerMxz - known accelerometer x-z cross coupling error.
      accelerometerMyx - known accelerometer y-x cross coupling error.
      accelerometerMyz - known accelerometer y-z cross coupling error.
      accelerometerMzx - known accelerometer z-x cross coupling error.
      accelerometerMzy - known accelerometer z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setAccelerometerScalingFactorsAndCrossCouplingErrors

      public void setAccelerometerScalingFactorsAndCrossCouplingErrors(double accelerometerSx, double accelerometerSy, double accelerometerSz, double accelerometerMxy, double accelerometerMxz, double accelerometerMyx, double accelerometerMyz, double accelerometerMzx, double accelerometerMzy) throws com.irurueta.navigation.LockedException
      Sets known accelerometer scaling factors and cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
      Specified by:
      setAccelerometerScalingFactorsAndCrossCouplingErrors in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerSx - known accelerometer x scaling factor.
      accelerometerSy - known accelerometer y scaling factor.
      accelerometerSz - known accelerometer z scaling factor.
      accelerometerMxy - known accelerometer x-y cross coupling error.
      accelerometerMxz - known accelerometer x-z cross coupling error.
      accelerometerMyx - known accelerometer y-x cross coupling error.
      accelerometerMyz - known accelerometer y-z cross coupling error.
      accelerometerMzx - known accelerometer z-x cross coupling error.
      accelerometerMzy - known accelerometer z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getAccelerometerMa

      public com.irurueta.algebra.Matrix getAccelerometerMa()
      Gets known accelerometer scale factors and cross coupling errors matrix.
      Specified by:
      getAccelerometerMa in interface AccelerometerDependentGyroscopeCalibrator
      Returns:
      known accelerometer scale factors and cross coupling errors matrix.

    • getAccelerometerMa

      public void getAccelerometerMa(com.irurueta.algebra.Matrix result)
      Gets known accelerometer scale factors and cross coupling errors matrix.
      Specified by:
      getAccelerometerMa in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • setAccelerometerMa

      public void setAccelerometerMa(com.irurueta.algebra.Matrix accelerometerMa) throws com.irurueta.navigation.LockedException
      Sets known accelerometer scale factors and cross coupling errors matrix.
      Specified by:
      setAccelerometerMa in interface AccelerometerDependentGyroscopeCalibrator
      Parameters:
      accelerometerMa - known accelerometer scale factors and cross coupling errors matrix. Must be 3x3.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x3.

    • getInitialBiasX

      public double getInitialBiasX()
      Gets initial x-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).
      Returns:
      initial x-coordinate of gyroscope bias.

    • setInitialBiasX

      public void setInitialBiasX(double initialBiasX) throws com.irurueta.navigation.LockedException
      Sets initial x-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).
      Parameters:
      initialBiasX - initial x-coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasY

      public double getInitialBiasY()
      Gets initial y-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).
      Returns:
      initial y-coordinate of gyroscope bias.

    • setInitialBiasY

      public void setInitialBiasY(double initialBiasY) throws com.irurueta.navigation.LockedException
      Sets initial y-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).
      Parameters:
      initialBiasY - initial y-coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasZ

      public double getInitialBiasZ()
      Gets initial z-coordinate of gyroscope bias ot be used to find a solution. This is expressed in radians per second (rad/s).
      Returns:
      initial z-coordinate of gyroscope bias.

    • setInitialBiasZ

      public void setInitialBiasZ(double initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial z-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).
      Parameters:
      initialBiasZ - initial z-coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasAngularSpeedX

      public com.irurueta.units.AngularSpeed getInitialBiasAngularSpeedX()
      Gets initial x-coordinate of gyroscope bias to be used to find a solution.
      Returns:
      initial x-coordinate of gyroscope bias.

    • getInitialBiasAngularSpeedX

      public void getInitialBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)
      Gets initial x-coordinate of gyroscope bias to be used to find a solution.
      Parameters:
      result - instance where result data will be stored.

    • setInitialBiasX

      public void setInitialBiasX(com.irurueta.units.AngularSpeed initialBiasX) throws com.irurueta.navigation.LockedException
      Sets initial x-coordinate of gyroscope bias to be used to find a solution.
      Parameters:
      initialBiasX - initial x-coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasAngularSpeedY

      public com.irurueta.units.AngularSpeed getInitialBiasAngularSpeedY()
      Gets initial y-coordinate of gyroscope bias to be used to find a solution.
      Returns:
      initial y-coordinate of gyroscope bias.

    • getInitialBiasAngularSpeedY

      public void getInitialBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)
      Gets initial y-coordinate of gyroscope bias to be used to find a solution.
      Parameters:
      result - instance where result data will be stored.

    • setInitialBiasY

      public void setInitialBiasY(com.irurueta.units.AngularSpeed initialBiasY) throws com.irurueta.navigation.LockedException
      Sets initial y-coordinate of gyroscope bias to be used to find a solution.
      Parameters:
      initialBiasY - initial y-coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasAngularSpeedZ

      public com.irurueta.units.AngularSpeed getInitialBiasAngularSpeedZ()
      Gets initial z-coordinate of gyroscope bias to be used to find a solution.
      Returns:
      initial z-coordinate of gyroscope bias.

    • getInitialBiasAngularSpeedZ

      public void getInitialBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)
      Gets initial z-coordinate of gyroscope bias to be used to find a solution.
      Parameters:
      result - instance where result data will be stored.

    • setInitialBiasZ

      public void setInitialBiasZ(com.irurueta.units.AngularSpeed initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial z-coordinate of gyroscope bias to be used to find a solution.
      Parameters:
      initialBiasZ - initial z-coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialBias

      public void setInitialBias(double initialBiasX, double initialBiasY, double initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial bias coordinates of gyroscope used to find a solution expressed in radians per second (rad/s).
      Parameters:
      initialBiasX - initial x-coordinate of gyroscope bias.
      initialBiasY - initial y-coordinate of gyroscope bias.
      initialBiasZ - initial z-coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialBias

      public void setInitialBias(com.irurueta.units.AngularSpeed initialBiasX, com.irurueta.units.AngularSpeed initialBiasY, com.irurueta.units.AngularSpeed initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial bias coordinates of gyroscope used to find a solution.
      Parameters:
      initialBiasX - initial x-coordinate of gyroscope bias.
      initialBiasY - initial y-coordinate of gyroscope bias.
      initialBiasZ - initial z-coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSx

      public double getInitialSx()
      Gets initial x scaling factor of gyroscope.
      Specified by:
      getInitialSx in interface GyroscopeNonLinearCalibrator
      Returns:
      initial x scaling factor of gyroscope.

    • setInitialSx

      public void setInitialSx(double initialSx) throws com.irurueta.navigation.LockedException
      Sets initial x scaling factor of gyroscope.
      Specified by:
      setInitialSx in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSy

      public double getInitialSy()
      Gets initial y scaling factor of gyroscope.
      Specified by:
      getInitialSy in interface GyroscopeNonLinearCalibrator
      Returns:
      initial y scaling factor of gyroscope.

    • setInitialSy

      public void setInitialSy(double initialSy) throws com.irurueta.navigation.LockedException
      Sets initial y scaling factor of gyroscope.
      Specified by:
      setInitialSy in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialSy - initial y scaling factor of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSz

      public double getInitialSz()
      Gets initial z scaling factor of gyroscope.
      Specified by:
      getInitialSz in interface GyroscopeNonLinearCalibrator
      Returns:
      initial z scaling factor of gyroscope.

    • setInitialSz

      public void setInitialSz(double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial z scaling factor of gyroscope.
      Specified by:
      setInitialSz in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialSz - initial z scaling factor of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxy

      public double getInitialMxy()
      Gets initial x-y cross coupling error of gyroscope.
      Specified by:
      getInitialMxy in interface GyroscopeNonLinearCalibrator
      Returns:
      initial x-y cross coupling error of gyroscope.

    • setInitialMxy

      public void setInitialMxy(double initialMxy) throws com.irurueta.navigation.LockedException
      Sets initial x-y cross coupling error of gyroscope.
      Specified by:
      setInitialMxy in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMxy - initial x-y cross coupling error of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxz

      public double getInitialMxz()
      Gets initial x-z cross coupling error of gyroscope.
      Specified by:
      getInitialMxz in interface GyroscopeNonLinearCalibrator
      Returns:
      initial x-z cross coupling error of gyroscope.

    • setInitialMxz

      public void setInitialMxz(double initialMxz) throws com.irurueta.navigation.LockedException
      Sets initial x-z cross coupling error of gyroscope.
      Specified by:
      setInitialMxz in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMxz - initial x-z cross coupling error of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyx

      public double getInitialMyx()
      Gets initial y-x cross coupling error of gyroscope.
      Specified by:
      getInitialMyx in interface GyroscopeNonLinearCalibrator
      Returns:
      initial y-x cross coupling error of gyroscope.

    • setInitialMyx

      public void setInitialMyx(double initialMyx) throws com.irurueta.navigation.LockedException
      Sets initial y-x cross coupling error of gyroscope.
      Specified by:
      setInitialMyx in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMyx - initial y-x cross coupling error of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyz

      public double getInitialMyz()
      Gets initial y-z cross coupling error of gyroscope.
      Specified by:
      getInitialMyz in interface GyroscopeNonLinearCalibrator
      Returns:
      initial y-z cross coupling error of gyroscope.

    • setInitialMyz

      public void setInitialMyz(double initialMyz) throws com.irurueta.navigation.LockedException
      Sets initial y-z cross coupling error of gyroscope.
      Specified by:
      setInitialMyz in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMyz - initial y-z cross coupling error of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzx

      public double getInitialMzx()
      Gets initial z-x cross coupling error of gyroscope.
      Specified by:
      getInitialMzx in interface GyroscopeNonLinearCalibrator
      Returns:
      initial z-x cross coupling error of gyroscope.

    • setInitialMzx

      public void setInitialMzx(double initialMzx) throws com.irurueta.navigation.LockedException
      Sets initial z-x cross coupling error of gyroscope.
      Specified by:
      setInitialMzx in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMzx - initial z-x cross coupling error of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzy

      public double getInitialMzy()
      Gets initial z-y cross coupling error of gyroscope.
      Specified by:
      getInitialMzy in interface GyroscopeNonLinearCalibrator
      Returns:
      initial z-y cross coupling error of gyroscope.

    • setInitialMzy

      public void setInitialMzy(double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial z-y cross coupling error of gyroscope.
      Specified by:
      setInitialMzy in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMzy - initial z-y cross coupling error of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialScalingFactors

      public void setInitialScalingFactors(double initialSx, double initialSy, double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial scaling factors of gyroscope.
      Specified by:
      setInitialScalingFactors in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor of gyroscope.
      initialSy - initial y scaling factor of gyroscope.
      initialSz - initial z scaling factor of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialCrossCouplingErrors

      public void setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial cross coupling errors of gyroscope.
      Specified by:
      setInitialCrossCouplingErrors in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMxy - initial x-y cross coupling error of gyroscope.
      initialMxz - initial x-z cross coupling error of gyroscope.
      initialMyx - initial y-x cross coupling error of gyroscope.
      initialMyz - initial y-z cross coupling error of gyroscope.
      initialMzx - initial z-x cross coupling error of gyroscope.
      initialMzy - initial z-y cross coupling error of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialScalingFactorsAndCrossCouplingErrors

      public void setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial scaling factors and cross coupling errors of gyroscope.
      Specified by:
      setInitialScalingFactorsAndCrossCouplingErrors in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor of gyroscope.
      initialSy - initial y scaling factor of gyroscope.
      initialSz - initial z scaling factor of gyroscope.
      initialMxy - initial x-y cross coupling error of gyroscope.
      initialMxz - initial x-z cross coupling error of gyroscope.
      initialMyx - initial y-x cross coupling error of gyroscope.
      initialMyz - initial y-z cross coupling error of gyroscope.
      initialMzx - initial z-x cross coupling error of gyroscope.
      initialMzy - initial z-y cross coupling error of gyroscope.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBias

      public double[] getInitialBias()
      Gets initial gyroscope bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).
      Returns:
      array containing coordinates of initial gyroscope bias.

    • getInitialBias

      public void getInitialBias(double[] result)
      Gets initial gyroscope bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setInitialBias

      public void setInitialBias(double[] initialBias) throws com.irurueta.navigation.LockedException
      Sets initial gyroscope bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).
      Parameters:
      initialBias - initial bias to find a solution.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getInitialBiasAsMatrix

      public com.irurueta.algebra.Matrix getInitialBiasAsMatrix()
      Gets initial gyroscope bias to be used to find a solution as a column matrix. Values are expressed in radians per second (rad/s).
      Returns:
      initial gyroscope bias to be used to find a solution as a column matrix.

    • getInitialBiasAsMatrix

      public void getInitialBiasAsMatrix(com.irurueta.algebra.Matrix result)
      Gets initial gyroscope bias to be used to find a solution as a column matrix. Values are expressed in radians per second (rad/s).
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • setInitialBias

      public void setInitialBias(com.irurueta.algebra.Matrix initialBias) throws com.irurueta.navigation.LockedException
      Sets initial gyroscope bias to be used to find a solution as a column matrix with values expressed in radians per second (rad/s).
      Parameters:
      initialBias - initial gyroscope bias to find a solution.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x1.

    • getInitialBiasAsTriad

      public AngularSpeedTriad getInitialBiasAsTriad()
      Gets initial bias coordinates of gyroscope used to find a solution.
      Returns:
      initial bias coordinates.

    • getInitialBiasAsTriad

      public void getInitialBiasAsTriad(AngularSpeedTriad result)
      Gets initial bias coordinates of gyroscope used to find a solution.
      Parameters:
      result - instance where result will be stored.

    • setInitialBias

      public void setInitialBias(AngularSpeedTriad initialBias) throws com.irurueta.navigation.LockedException
      Sets initial bias coordinates of gyroscope used to find a solution.
      Parameters:
      initialBias - initial bias coordinates to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMg

      public com.irurueta.algebra.Matrix getInitialMg()
      Gets initial gyroscope scale factors and cross coupling errors matrix.
      Specified by:
      getInitialMg in interface GyroscopeNonLinearCalibrator
      Returns:
      initial gyroscope scale factors and cross coupling errors matrix.

    • getInitialMg

      public void getInitialMg(com.irurueta.algebra.Matrix result)
      Gets initial gyroscope scale factors and cross coupling errors matrix.
      Specified by:
      getInitialMg in interface GyroscopeNonLinearCalibrator
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • setInitialMg

      public void setInitialMg(com.irurueta.algebra.Matrix initialMg) throws com.irurueta.navigation.LockedException
      Sets initial gyroscope scale factors and cross coupling errors matrix.
      Specified by:
      setInitialMg in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialMg - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialGg

      public com.irurueta.algebra.Matrix getInitialGg()
      Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
      Specified by:
      getInitialGg in interface GyroscopeNonLinearCalibrator
      Returns:
      a 3x3 matrix containing initial g-dependent cross biases.

    • getInitialGg

      public void getInitialGg(com.irurueta.algebra.Matrix result)
      Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
      Specified by:
      getInitialGg in interface GyroscopeNonLinearCalibrator
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • setInitialGg

      public void setInitialGg(com.irurueta.algebra.Matrix initialGg) throws com.irurueta.navigation.LockedException
      Sets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
      Specified by:
      setInitialGg in interface GyroscopeNonLinearCalibrator
      Parameters:
      initialGg - g-dependent cross biases.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x3.

    • getSequences

      public List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> getSequences()
      Gets collection of sequences of timestamped body kinematics measurements taken at a given position where the device moves freely with different orientations.
      Specified by:
      getSequences in interface OrderedBodyKinematicsSequenceGyroscopeCalibrator
      Returns:
      collection of sequences of timestamped body kinematics measurements.

    • setSequences

      public void setSequences(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences) throws com.irurueta.navigation.LockedException
      Sets collection of sequences of timestamped body kinematics measurements taken at a given position where the device moves freely with different orientations.
      Specified by:
      setSequences in interface OrderedBodyKinematicsSequenceGyroscopeCalibrator
      Parameters:
      sequences - collection of sequences of timestamped body kinematics measurements.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurementOrSequenceType

      public GyroscopeCalibratorMeasurementOrSequenceType getMeasurementOrSequenceType()
      Indicates the type of measurement or sequence used by this calibrator.
      Specified by:
      getMeasurementOrSequenceType in interface GyroscopeCalibrator
      Returns:
      type of measurement or sequence used by this calibrator.

    • isOrderedMeasurementsOrSequencesRequired

      public boolean isOrderedMeasurementsOrSequencesRequired()
      Indicates whether this calibrator requires ordered measurements or sequences in a list or not.
      Specified by:
      isOrderedMeasurementsOrSequencesRequired in interface GyroscopeCalibrator
      Returns:
      true if measurements or sequences must be ordered, false otherwise.

    • isCommonAxisUsed

      public boolean isCommonAxisUsed()
      Indicates whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.
      Specified by:
      isCommonAxisUsed in interface GyroscopeCalibrator
      Returns:
      true if z-axis is assumed to be common for accelerometer and gyroscope, false otherwise.

    • setCommonAxisUsed

      public void setCommonAxisUsed(boolean commonAxisUsed) throws com.irurueta.navigation.LockedException
      Specifies whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.
      Specified by:
      setCommonAxisUsed in interface GyroscopeCalibrator
      Parameters:
      commonAxisUsed - true if z-axis is assumed to be common for accelerometer and gyroscope, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isGDependentCrossBiasesEstimated

      public boolean isGDependentCrossBiasesEstimated()
      Indicates whether G-dependent cross biases are being estimated or not. When enabled, this adds 9 variables from Gg matrix.
      Returns:
      true if G-dependent cross biases will be estimated, false otherwise.

    • setGDependentCrossBiasesEstimated

      public void setGDependentCrossBiasesEstimated(boolean estimateGDependentCrossBiases) throws com.irurueta.navigation.LockedException
      Specifies whether G-dependent cross biases are being estimated or not. When enabled, this adds 9 variables from Gg matrix.
      Parameters:
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getListener

      public RobustEasyGyroscopeCalibratorListener getListener()
      Gets listener to handle events raised by this estimator.
      Returns:
      listener to handle events raised by this estimator.

    • setListener

      public void setListener(RobustEasyGyroscopeCalibratorListener listener) throws com.irurueta.navigation.LockedException
      Sets listener to handle events raised by this estimator.
      Parameters:
      listener - listener to handle events raised by this estimator.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMinimumRequiredMeasurementsOrSequences

      public int getMinimumRequiredMeasurementsOrSequences()
      Gets minimum number of required sequences.
      Specified by:
      getMinimumRequiredMeasurementsOrSequences in interface GyroscopeCalibrator
      Returns:
      minimum number of required sequences.

    • isReady

      public boolean isReady()
      Indicates whether calibrator is ready to start.
      Specified by:
      isReady in interface GyroscopeCalibrator
      Returns:
      true if calibrator is ready, false otherwise.

    • isRunning

      public boolean isRunning()
      Indicates whether calibrator is currently running or not.
      Specified by:
      isRunning in interface GyroscopeCalibrator
      Returns:
      true if calibrator is running, false otherwise.

    • getProgressDelta

      public float getProgressDelta()
      Returns amount of progress variation before notifying a progress change during calibration.
      Returns:
      amount of progress variation before notifying a progress change during calibration.

    • setProgressDelta

      public void setProgressDelta(float progressDelta) throws com.irurueta.navigation.LockedException
      Sets amount of progress variation before notifying a progress change during calibration.
      Parameters:
      progressDelta - amount of progress variation before notifying a progress change during calibration.
      Throws:
      IllegalArgumentException - if progress delta is less than zero or greater than 1.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getConfidence

      public double getConfidence()
      Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
      Returns:
      amount of confidence as a value between 0.0 and 1.0.

    • setConfidence

      public void setConfidence(double confidence) throws com.irurueta.navigation.LockedException
      Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
      Parameters:
      confidence - confidence to be set as a value between 0.0 and 1.0.
      Throws:
      IllegalArgumentException - if provided value is not between 0.0 and 1.0.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMaxIterations

      public int getMaxIterations()
      Returns maximum allowed number of iterations. If maximum allowed number of iterations is achieved without converging to a result when calling calibrate(), a RobustEstimatorException will be raised.
      Returns:
      maximum allowed number of iterations.

    • setMaxIterations

      public void setMaxIterations(int maxIterations) throws com.irurueta.navigation.LockedException
      Sets maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.
      Parameters:
      maxIterations - maximum allowed number of iterations to be set.
      Throws:
      IllegalArgumentException - if provided value is less than 1.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInliersData

      public com.irurueta.numerical.robust.InliersData getInliersData()
      Gets data related to inliers found after estimation.
      Returns:
      data related to inliers found after estimation.

    • isResultRefined

      public boolean isResultRefined()
      Indicates whether result must be refined using a non-linear solver over found inliers.
      Returns:
      true to refine result, false to simply use result found by robust estimator without further refining.

    • setResultRefined

      public void setResultRefined(boolean refineResult) throws com.irurueta.navigation.LockedException
      Specifies whether result must be refined using a non-linear solver over found inliers.
      Parameters:
      refineResult - true to refine result, false to simply use result found by robust estimator without further refining.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isCovarianceKept

      public boolean isCovarianceKept()
      Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
      Returns:
      true if covariance must be kept after refining result, false otherwise.

    • setCovarianceKept

      public void setCovarianceKept(boolean keepCovariance) throws com.irurueta.navigation.LockedException
      Specifies whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
      Parameters:
      keepCovariance - true if covariance must be kept after refining result, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getQualityScores

      public double[] getQualityScores()
      Returns quality scores corresponding to each sequence. The larger the score value the better the quality of the sample. This implementation always returns null. Subclasses using quality scores must implement proper behavior.
      Specified by:
      getQualityScores in interface QualityScoredGyroscopeCalibrator
      Returns:
      quality scores corresponding to each sample.

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws com.irurueta.navigation.LockedException
      Sets quality scores corresponding to each sequence. The larger the score value the better the quality of the sample. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.
      Specified by:
      setQualityScores in interface QualityScoredGyroscopeCalibrator
      Parameters:
      qualityScores - quality scores corresponding to each sample.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getEstimatedBiases

      public double[] getEstimatedBiases()
      Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
      Specified by:
      getEstimatedBiases in interface GyroscopeCalibrationSource
      Specified by:
      getEstimatedBiases in interface UnknownBiasGyroscopeCalibrator
      Returns:
      array containing x,y,z components of estimated gyroscope biases.

    • getEstimatedBiases

      public boolean getEstimatedBiases(double[] result)
      Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
      Specified by:
      getEstimatedBiases in interface UnknownBiasGyroscopeCalibrator
      Parameters:
      result - instance where estimated gyroscope biases will be stored.
      Returns:
      true if result instance was updated, false otherwise (when estimation is not yet available).

    • getEstimatedBiasesAsMatrix

      public com.irurueta.algebra.Matrix getEstimatedBiasesAsMatrix()
      Gets column matrix containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
      Specified by:
      getEstimatedBiasesAsMatrix in interface UnknownBiasGyroscopeCalibrator
      Returns:
      column matrix containing x,y,z components of estimated gyroscope biases.

    • getEstimatedBiasesAsMatrix

      public boolean getEstimatedBiasesAsMatrix(com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.WrongSizeException
      Gets column matrix containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
      Specified by:
      getEstimatedBiasesAsMatrix in interface UnknownBiasGyroscopeCalibrator
      Parameters:
      result - instance where result data will be stored.
      Returns:
      true if result was updated, false otherwise.
      Throws:
      com.irurueta.algebra.WrongSizeException - if provided result instance has invalid size.

    • getEstimatedBiasX

      public Double getEstimatedBiasX()
      Gets x coordinate of estimated gyroscope bias expressed in radians per second (rad/s).
      Specified by:
      getEstimatedBiasX in interface UnknownBiasGyroscopeCalibrator
      Returns:
      x coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasY

      public Double getEstimatedBiasY()
      Gets y coordinate of estimated gyroscope bias expressed in radians per second (rad/s).
      Specified by:
      getEstimatedBiasY in interface UnknownBiasGyroscopeCalibrator
      Returns:
      y coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasZ

      public Double getEstimatedBiasZ()
      Gets z coordinate of estimated gyroscope bias expressed in radians per second (rad/s).
      Specified by:
      getEstimatedBiasZ in interface UnknownBiasGyroscopeCalibrator
      Returns:
      z coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasAngularSpeedX

      public com.irurueta.units.AngularSpeed getEstimatedBiasAngularSpeedX()
      Gets x coordinate of estimated gyroscope bias.
      Specified by:
      getEstimatedBiasAngularSpeedX in interface UnknownBiasGyroscopeCalibrator
      Returns:
      x coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasAngularSpeedX

      public boolean getEstimatedBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)
      Gets x coordinate of estimated gyroscope bias.
      Specified by:
      getEstimatedBiasAngularSpeedX in interface UnknownBiasGyroscopeCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasAngularSpeedY

      public com.irurueta.units.AngularSpeed getEstimatedBiasAngularSpeedY()
      Gets y coordinate of estimated gyroscope bias.
      Specified by:
      getEstimatedBiasAngularSpeedY in interface UnknownBiasGyroscopeCalibrator
      Returns:
      y coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasAngularSpeedY

      public boolean getEstimatedBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)
      Gets y coordinate of estimated gyroscope bias.
      Specified by:
      getEstimatedBiasAngularSpeedY in interface UnknownBiasGyroscopeCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasAngularSpeedZ

      public com.irurueta.units.AngularSpeed getEstimatedBiasAngularSpeedZ()
      Gets z coordinate of estimated gyroscope bias.
      Specified by:
      getEstimatedBiasAngularSpeedZ in interface UnknownBiasGyroscopeCalibrator
      Returns:
      z coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasAngularSpeedZ

      public boolean getEstimatedBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)
      Gets z coordinate of estimated gyroscope bias.
      Specified by:
      getEstimatedBiasAngularSpeedZ in interface UnknownBiasGyroscopeCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasAsTriad

      public AngularSpeedTriad getEstimatedBiasAsTriad()
      Gets estimated gyroscope bias.
      Specified by:
      getEstimatedBiasAsTriad in interface UnknownBiasGyroscopeCalibrator
      Returns:
      estimated gyroscope bias or null if not available.

    • getEstimatedBiasAsTriad

      public boolean getEstimatedBiasAsTriad(AngularSpeedTriad result)
      Gets estimated gyroscope bias.
      Specified by:
      getEstimatedBiasAsTriad in interface UnknownBiasGyroscopeCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if estimated gyroscope bias is available and result was modified, false otherwise.

    • getEstimatedMg

      public com.irurueta.algebra.Matrix getEstimatedMg()
      Gets 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.
      Specified by:
      getEstimatedMg in interface GyroscopeCalibrationSource
      Specified by:
      getEstimatedMg in interface GyroscopeCalibrator
      Returns:
      estimated gyroscope scale factors and cross coupling errors, or null if not available.

    • getEstimatedSx

      public Double getEstimatedSx()
      Gets estimated gyroscope x-axis scale factor.
      Specified by:
      getEstimatedSx in interface GyroscopeCalibrator
      Returns:
      estimated gyroscope x-axis scale factor or null if not available.

    • getEstimatedSy

      public Double getEstimatedSy()
      Gets estimated gyroscope y-axis scale factor.
      Specified by:
      getEstimatedSy in interface GyroscopeCalibrator
      Returns:
      estimated gyroscope y-axis scale factor or null if not available.

    • getEstimatedSz

      public Double getEstimatedSz()
      Gets estimated gyroscope z-axis scale factor.
      Specified by:
      getEstimatedSz in interface GyroscopeCalibrator
      Returns:
      estimated gyroscope z-axis scale factor or null if not available.

    • getEstimatedMxy

      public Double getEstimatedMxy()
      Gets estimated gyroscope x-y cross-coupling error.
      Specified by:
      getEstimatedMxy in interface GyroscopeCalibrator
      Returns:
      estimated gyroscope x-y cross-coupling error or null if not available.

    • getEstimatedMxz

      public Double getEstimatedMxz()
      Gets estimated gyroscope x-z cross-coupling error.
      Specified by:
      getEstimatedMxz in interface GyroscopeCalibrator
      Returns:
      estimated gyroscope x-z cross-coupling error or null if not available.

    • getEstimatedMyx

      public Double getEstimatedMyx()
      Gets estimated gyroscope y-x cross-coupling error.
      Specified by:
      getEstimatedMyx in interface GyroscopeCalibrator
      Returns:
      estimated gyroscope y-x cross-coupling error or null if not available.

    • getEstimatedMyz

      public Double getEstimatedMyz()
      Gets estimated gyroscope y-z cross-coupling error.
      Specified by:
      getEstimatedMyz in interface GyroscopeCalibrator
      Returns:
      estimated gyroscope y-z cross-coupling error or null if not available.

    • getEstimatedMzx

      public Double getEstimatedMzx()
      Gets estimated gyroscope z-x cross-coupling error.
      Specified by:
      getEstimatedMzx in interface GyroscopeCalibrator
      Returns:
      estimated gyroscope z-x cross-coupling error or null if not available.

    • getEstimatedMzy

      public Double getEstimatedMzy()
      Gets estimated gyroscope z-y cross-coupling error.
      Specified by:
      getEstimatedMzy in interface GyroscopeCalibrator
      Returns:
      estimated gyroscope z-y cross-coupling error or null if not available.

    • getEstimatedGg

      public com.irurueta.algebra.Matrix getEstimatedGg()
      Gets estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. This instance allows any 3x3 matrix.
      Specified by:
      getEstimatedGg in interface GyroscopeCalibrationSource
      Specified by:
      getEstimatedGg in interface GyroscopeCalibrator
      Returns:
      estimated G-dependent cross biases.

    • getEstimatedCovariance

      public com.irurueta.algebra.Matrix getEstimatedCovariance()
      Gets estimated covariance matrix for estimated parameters. Diagonal elements of the matrix contains variance for the following parameters (following indicated order): bgx, bgy, bgz, sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy, gg11, gg21, gg31, gg12, gg22, gg32, gg13, gg23, gg33.
      Specified by:
      getEstimatedCovariance in interface GyroscopeNonLinearCalibrator
      Returns:
      estimated covariance matrix for estimated parameters.

    • getEstimatedChiSq

      public double getEstimatedChiSq()
      Gets estimated chi square value.
      Specified by:
      getEstimatedChiSq in interface GyroscopeNonLinearCalibrator
      Returns:
      estimated chi square value.

    • getEstimatedMse

      public double getEstimatedMse()
      Gets estimated mean square error respect to provided measurements.
      Specified by:
      getEstimatedMse in interface GyroscopeNonLinearCalibrator
      Returns:
      estimated mean square error respect to provided measurements.

    • getEstimatedBiasXVariance

      public Double getEstimatedBiasXVariance()
      Gets variance of estimated x coordinate of gyroscope bias expressed in (rad^2/s^2).
      Returns:
      variance of estimated x coordinate of gyroscope bias or null if not available.

    • getEstimatedBiasXStandardDeviation

      public Double getEstimatedBiasXStandardDeviation()
      Gets standard deviation of estimated x coordinate of gyroscope bias expressed in radians per second (rad/s).
      Returns:
      standard deviation of estimated x coordinate of gyroscope bias or null if not available.

    • getEstimatedBiasXStandardDeviationAsAngularSpeed

      public com.irurueta.units.AngularSpeed getEstimatedBiasXStandardDeviationAsAngularSpeed()
      Gets standard deviation of estimated x coordinate of gyroscope bias.
      Returns:
      standard deviation of estimated x coordinate of gyroscope bias or null if not available.

    • getEstimatedBiasXStandardDeviationAsAngularSpeed

      public boolean getEstimatedBiasXStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)
      Gets standard deviation of estimated x coordinate of gyroscope bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated x coordinate of gyroscope bias is available, false otherwise.

    • getEstimatedBiasYVariance

      public Double getEstimatedBiasYVariance()
      Gets variance of estimated y coordinate of gyroscope bias expressed in (rad^2/s^2).
      Returns:
      variance of estimated y coordinate of gyroscope bias or null if not available.

    • getEstimatedBiasYStandardDeviation

      public Double getEstimatedBiasYStandardDeviation()
      Gets standard deviation of estimated y coordinate of gyroscope bias expressed in radians per second (rad/s).
      Returns:
      standard deviation of estimated y coordinate of gyroscope bias or null if not available.

    • getEstimatedBiasYStandardDeviationAsAngularSpeed

      public com.irurueta.units.AngularSpeed getEstimatedBiasYStandardDeviationAsAngularSpeed()
      Gets standard deviation of estimated y coordinate of gyroscope bias.
      Returns:
      standard deviation of estimated y coordinate of gyroscope bias or null if not available.

    • getEstimatedBiasYStandardDeviationAsAngularSpeed

      public boolean getEstimatedBiasYStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)
      Gets standard deviation of estimated y coordinate of gyroscope bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated y coordinate of gyroscope bias is available, false otherwise.

    • getEstimatedBiasZVariance

      public Double getEstimatedBiasZVariance()
      Gets variance of estimated z coordinate of gyroscope bias expressed in (rad^2/s^2).
      Returns:
      variance of estimated z coordinate of gyroscope bias or null if not available.

    • getEstimatedBiasZStandardDeviation

      public Double getEstimatedBiasZStandardDeviation()
      Gets standard deviation of estimated z coordinate of gyroscope bias expressed in radians per second (rad/s).
      Returns:
      standard deviation of estimated z coordinate of gyroscope bias or null if not available.

    • getEstimatedBiasZStandardDeviationAsAngularSpeed

      public com.irurueta.units.AngularSpeed getEstimatedBiasZStandardDeviationAsAngularSpeed()
      Gets standard deviation of estimated z coordinate of gyroscope bias.
      Returns:
      standard deviation of estimated z coordinate of gyroscope bias or null if not available.

    • getEstimatedBiasZStandardDeviationAsAngularSpeed

      public boolean getEstimatedBiasZStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)
      Gets standard deviation of estimated z coordinate of gyroscope bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated z coordinate of gyroscope bias is available, false otherwise.

    • getEstimatedBiasStandardDeviation

      public AngularSpeedTriad getEstimatedBiasStandardDeviation()
      Gets standard deviation of estimated gyroscope bias coordinates.
      Returns:
      standard deviation of estimated gyroscope bias coordinates.

    • getEstimatedBiasStandardDeviation

      public boolean getEstimatedBiasStandardDeviation(AngularSpeedTriad result)
      Gets standard deviation of estimated gyroscope bias coordinates.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of gyroscope bias was available, false otherwise.

    • getEstimatedBiasStandardDeviationAverage

      public Double getEstimatedBiasStandardDeviationAverage()
      Gets average of estimated standard deviation of gyroscope bias coordinates expressed in radians per second (rad/s).
      Returns:
      average of estimated standard deviation of gyroscope bias coordinates or null if not available.

    • getEstimatedBiasStandardDeviationAverageAsAngularSpeed

      public com.irurueta.units.AngularSpeed getEstimatedBiasStandardDeviationAverageAsAngularSpeed()
      Gets average of estimated standard deviation of gyroscope bias coordinates.
      Returns:
      average of estimated standard deviation of gyroscope bias coordinates or null.

    • getEstimatedBiasStandardDeviationAverageAsAngularSpeed

      public boolean getEstimatedBiasStandardDeviationAverageAsAngularSpeed(com.irurueta.units.AngularSpeed result)
      Gets average of estimated standard deviation of gyroscope bias coordinates.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if average of estimated standard deviation of gyroscope bias is available, false otherwise.

    • getEstimatedBiasStandardDeviationNorm

      public Double getEstimatedBiasStandardDeviationNorm()
      Gets norm of estimated standard deviation of gyroscope bias expressed in radians per second (rad/s). This can be used as the initial gyroscope bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.
      Specified by:
      getEstimatedBiasStandardDeviationNorm in interface GyroscopeBiasUncertaintySource
      Returns:
      norm of estimated standard deviation of gyroscope bias or null if not available.

    • getEstimatedBiasStandardDeviationNormAsAngularSpeed

      public com.irurueta.units.AngularSpeed getEstimatedBiasStandardDeviationNormAsAngularSpeed()
      Gets norm of estimated standard deviation of gyroscope bias. This can be used as the initial gyroscope bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.
      Returns:
      norm of estimated standard deviation of gyroscope bias or null if not available.

    • getEstimatedBiasStandardDeviationNormAsAngularSpeed

      public boolean getEstimatedBiasStandardDeviationNormAsAngularSpeed(com.irurueta.units.AngularSpeed result)
      Gets norm of estimated standard deviation of gyroscope bias coordinates. This can be used as the initial gyroscope bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if norm of estimated standard deviation of gyroscope bias is available, false otherwise.

    • getPreliminarySubsetSize

      public int getPreliminarySubsetSize()
      Gets size of subsets to be checked during robust estimation. This has to be at least getMinimumRequiredMeasurementsOrSequences().
      Returns:
      size of subsets to be checked during robust estimation.

    • setPreliminarySubsetSize

      public void setPreliminarySubsetSize(int preliminarySubsetSize) throws com.irurueta.navigation.LockedException
      Sets size of subsets to be checked during robust estimation. This has to be at least getMinimumRequiredMeasurementsOrSequences().
      Parameters:
      preliminarySubsetSize - size of subsets to be checked during robust estimation.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided value is less than getMinimumRequiredMeasurementsOrSequences().

    • getMethod

      public abstract com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
      Returns method being used for robust estimation.
      Returns:
      method being used for robust estimation.

    • create

      public static RobustEasyGyroscopeCalibrator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must be 3x1 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must be 3x1 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must be 3x1 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must be 3x1 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create(double[] qualityScores, List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust gyroscope calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided sequence. The larger the score value the better the quality of the sequence.
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size or if provided quality scores length is smaller than 10.

    • create

      public static RobustEasyGyroscopeCalibrator create()
      Creates a robust gyroscope calibrator using default robust method.
      Returns:
      a robust gyroscope calibrator.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must be 3x1 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must be 3x1 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustEasyGyroscopeCalibratorListener listener)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must have length 3 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • create

      public static RobustEasyGyroscopeCalibrator create(List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustEasyGyroscopeCalibratorListener listener)
      Creates a robust gyroscope calibrator using default robust method.
      Parameters:
      sequences - collection of sequences containing timestamped body kinematics measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.
      initialBias - initial gyroscope bias to be used to find a solution. This must be 3x1 and is expressed in radians per second (rad/s).
      initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.
      initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.
      accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust gyroscope calibrator.
      Throws:
      IllegalArgumentException - if any of the provided values does not have proper size.

    • setupAccelerationFixer

      protected void setupAccelerationFixer() throws com.irurueta.algebra.AlgebraException
      Configures acceleration fixer
      Throws:
      com.irurueta.algebra.AlgebraException - if provided accelerometer parameters are numerically unstable.

    • computeError

      protected double computeError(BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence, RobustEasyGyroscopeCalibrator.PreliminaryResult preliminaryResult)
      Computes error of a preliminary result respect a given sequence.
      Parameters:
      sequence - a sequence.
      preliminaryResult - a preliminary result.
      Returns:
      computed error.

    • computePreliminarySolutions

      protected void computePreliminarySolutions(int[] samplesIndices, List<RobustEasyGyroscopeCalibrator.PreliminaryResult> solutions)
      Computes a preliminary solution for a subset of samples picked by a robust estimator.
      Parameters:
      samplesIndices - indices of samples picked by the robust estimator.
      solutions - list where estimated preliminary solution will be stored.

    • attemptRefine

      protected void attemptRefine(RobustEasyGyroscopeCalibrator.PreliminaryResult preliminaryResult)
      Attempts to refine calibration parameters if refinement is requested. This method returns a refined solution or provided input if refinement is not requested or has failed. If refinement is enabled and it is requested to keep covariance, this method will also keep covariance of refined position.
      Parameters:
      preliminaryResult - a preliminary result.

    • convertAcceleration

      private static double convertAcceleration(com.irurueta.units.Acceleration acceleration)
      Converts acceleration instance to meters per squared second.
      Parameters:
      acceleration - acceleration instance to be converted.
      Returns:
      converted value.

    • convertAngularSpeed

      private static double convertAngularSpeed(double value, com.irurueta.units.AngularSpeedUnit unit)
      Converts angular speed value and unit to radians per second.
      Parameters:
      value - angular speed value.
      unit - unit of angular speed value.
      Returns:
      converted value.

    • convertAngularSpeed

      private static double convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)
      Converts angular speed instance to radians per second.
      Parameters:
      angularSpeed - angular speed instance to be converted.
      Returns:
      converted value.

    • fixKinematics

      private void fixKinematics(BodyKinematics measuredKinematics, BodyKinematics result) throws com.irurueta.algebra.AlgebraException
      Fixes a measured kinematics instance using current
      Parameters:
      measuredKinematics - a measured kinematics instance.
      result - instance where fixed values will be stored.
      Throws:
      com.irurueta.algebra.AlgebraException - if accelerometer or gyroscope parameters contain numerical instabilities.