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

All Implemented Interfaces:: GyroscopeCalibrator, GyroscopeNonLinearCalibrator, OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator, UnknownBiasGyroscopeCalibrator, UnknownBiasNonLinearGyroscopeCalibrator, GyroscopeBiasUncertaintySource, GyroscopeCalibrationSource

Direct Known Subclasses:: LMedSRobustKnownFrameGyroscopeCalibrator, MSACRobustKnownFrameGyroscopeCalibrator, PROMedSRobustKnownFrameGyroscopeCalibrator, PROSACRobustKnownFrameGyroscopeCalibrator, RANSACRobustKnownFrameGyroscopeCalibrator

public abstract class RobustKnownFrameGyroscopeCalibrator extends Object implements GyroscopeNonLinearCalibrator, UnknownBiasNonLinearGyroscopeCalibrator, GyroscopeCalibrationSource, GyroscopeBiasUncertaintySource, OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator

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.

To use this calibrator at least 7 measurements at different known frames must be provided. In other words, accelerometer and gyroscope (i.e. body kinematics) samples must be obtained at 7 different positions, orientations and velocities (although typically velocities are always zero).

Measured gyroscope angular rates is assumed to follow the model shown below:

     Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w

Where: - Ωmeas is the measured gyroscope angular rates. This is a 3x1 vector. - bg is the gyroscope bias. Ideally, on a perfect gyroscope, this should be a 3x1 zero vector. - I is the 3x3 identity matrix. - Mg is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on a perfect gyroscope, this should be a 3x3 zero matrix. - Ωtrue is ground-truth gyroscope angular rates. - Gg is the G-dependent cross biases introduced by the specific forces sensed by the accelerometer. Ideally, on a perfect gyroscope, this should be a 3x3 zero matrix. - ftrue is ground-truth specific force. This is a 3x1 vector. - w is measurement noise. This is a 3x1 vector.

Nested Class Summary

Nested Classes

Modifier and Type

Class

Description

protected static class

RobustKnownFrameGyroscopeCalibrator.PreliminaryResult

Internal class containing estimated preliminary result.
Field Summary

Fields

Modifier and Type

Field

Description

private boolean

commonAxisUsed

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

protected double

confidence

Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

static final double

DEFAULT_CONFIDENCE

Constant defining default confidence of the estimated result, which is 99%.

static final boolean

DEFAULT_KEEP_COVARIANCE

Indicates that covariance is kept by default after refining result.

static final int

DEFAULT_MAX_ITERATIONS

Default maximum allowed number of iterations.

static final float

DEFAULT_PROGRESS_DELTA

Default amount of progress variation before notifying a change in estimation progress.

static final boolean

DEFAULT_REFINE_PRELIMINARY_SOLUTIONS

Indicates that by default preliminary solutions are refined.

static final boolean

DEFAULT_REFINE_RESULT

Indicates that result is refined by default using a non-linear calibrator (which uses a Levenberg-Marquardt fitter).

static final com.irurueta.numerical.robust.RobustEstimatorMethod

DEFAULT_ROBUST_METHOD

Default robust estimator method when none is provided.

static final boolean

DEFAULT_USE_COMMON_Z_AXIS

Indicates whether by default a common z-axis is assumed for both the accelerometer and gyroscope.

static final boolean

DEFAULT_USE_LINEAR_CALIBRATOR

Indicates that by default a linear calibrator is used for preliminary solution estimation.

private double[]

estimatedBiases

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

private double

estimatedChiSq

Estimated chi square value.

private com.irurueta.algebra.Matrix

estimatedCovariance

Estimated covariance of estimated position.

private com.irurueta.algebra.Matrix

estimatedGg

Estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

private com.irurueta.algebra.Matrix

estimatedMg

Estimated gyroscope scale factors and cross coupling errors.

private double

estimatedMse

Estimated mean square error respect to provided measurements.

private double

initialBiasX

Initial x-coordinate of gyroscope bias to be used to find a solution.

private double

initialBiasY

Initial y-coordinate of gyroscope bias to be used to find a solution.

private double

initialBiasZ

Initial z-coordinate of gyroscope bias to be used to find a solution.

private com.irurueta.algebra.Matrix

initialGg

Initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

private double

initialMxy

Initial x-y cross coupling error.

private double

initialMxz

Initial x-z cross coupling error.

private double

initialMyx

Initial y-x cross coupling error.

private double

initialMyz

Initial y-z cross coupling error.

private double

initialMzx

Initial z-x cross coupling error.

private double

initialMzy

Initial z-y cross coupling error.

private double

initialSx

Initial x scaling factor.

private double

initialSy

Initial y scaling factor.

private double

initialSz

Initial z scaling factor.

protected com.irurueta.numerical.robust.InliersData

inliersData

Data related to inliers found after calibration.

private boolean

keepCovariance

Indicates whether covariance must be kept after refining result.

private final KnownFrameGyroscopeLinearLeastSquaresCalibrator

linearCalibrator

A linear least squares calibrator.

protected RobustKnownFrameGyroscopeCalibratorListener

listener

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

static final double

MAX_CONFIDENCE

Maximum allowed confidence value.

static final float

MAX_PROGRESS_DELTA

Maximum allowed value for progress delta.

protected int

maxIterations

Maximum allowed number of iterations.

protected List<StandardDeviationFrameBodyKinematics>

measurements

Contains a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements.

static final double

MIN_CONFIDENCE

Minimum allowed confidence value.

static final int

MIN_ITERATIONS

Minimum allowed number of iterations.

static final float

MIN_PROGRESS_DELTA

Minimum allowed value for progress delta.

static final int

MINIMUM_MEASUREMENTS

Required minimum number of measurements.

private final KnownFrameGyroscopeNonLinearLeastSquaresCalibrator

nonLinearCalibrator

A non-linear least squares calibrator.

protected int

preliminarySubsetSize

Size of subsets to be checked during robust estimation.

protected float

progressDelta

Amount of progress variation before notifying a progress change during calibration.

private boolean

refinePreliminarySolutions

Indicates whether preliminary solutions must be refined after an initial linear solution is found.

protected boolean

refineResult

Indicates whether result must be refined using a non linear calibrator over found inliers.

protected boolean

running

Indicates whether estimator is running.

private boolean

useLinearCalibrator

Indicates whether a linear calibrator is used or not for preliminary solutions.
Constructor Summary

Constructors

Modifier

Constructor

Description

protected

RobustKnownFrameGyroscopeCalibrator()

Constructor.

protected

RobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed)

Constructor.

protected

RobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)

Constructor.

protected

RobustKnownFrameGyroscopeCalibrator(RobustKnownFrameGyroscopeCalibratorListener listener)

Constructor.

protected

RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)

Constructor.

protected

RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)

Constructor.

protected

RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)

Constructor.

protected

RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener)

Constructor.
Method Summary

Modifier and Type

Method

Description

protected void

attemptRefine(RobustKnownFrameGyroscopeCalibrator.PreliminaryResult preliminaryResult)

Attempts to refine calibration parameters if refinement is requested.

protected double

computeError(StandardDeviationFrameBodyKinematics measurement, RobustKnownFrameGyroscopeCalibrator.PreliminaryResult preliminaryResult)

Computes error of a preliminary result respect a given measurement.

protected void

computePreliminarySolutions(int[] samplesIndices, List<RobustKnownFrameGyroscopeCalibrator.PreliminaryResult> solutions)

Computes a preliminary solution for a subset of samples picked by a robust estimator.

private static double

convertAngularSpeed(double value, com.irurueta.units.AngularSpeedUnit unit)

Converts angular speed value and unit to radians per second.

private static double

convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)

Converts angular speed instance to radians per second.

static RobustKnownFrameGyroscopeCalibrator

create()

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(boolean commonAxisUsed)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, boolean commonAxisUsed)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements)

Creates a robust gyroscope calibrator using default robust method

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(List<StandardDeviationFrameBodyKinematics> measurements)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

static RobustKnownFrameGyroscopeCalibrator

create(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

static RobustKnownFrameGyroscopeCalibrator

create(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

double

getConfidence()

Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

com.irurueta.units.AngularSpeed

getEstimatedBiasAngularSpeedX()

Gets x coordinate of estimated gyroscope bias.

boolean

getEstimatedBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)

Gets x coordinate of estimated gyroscope bias.

com.irurueta.units.AngularSpeed

getEstimatedBiasAngularSpeedY()

Gets y coordinate of estimated gyroscope bias.

boolean

getEstimatedBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)

Gets y coordinate of estimated gyroscope bias.

com.irurueta.units.AngularSpeed

getEstimatedBiasAngularSpeedZ()

Gets z coordinate of estimated gyroscope bias.

boolean

getEstimatedBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)

Gets z coordinate of estimated gyroscope bias.

AngularSpeedTriad

getEstimatedBiasAsTriad()

Gets estimated gyroscope bias.

boolean

getEstimatedBiasAsTriad(AngularSpeedTriad result)

Gets estimated gyroscope bias.

double[]

getEstimatedBiases()

Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).

boolean

getEstimatedBiases(double[] result)

Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).

com.irurueta.algebra.Matrix

getEstimatedBiasesAsMatrix()

Gets column matrix containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).

boolean

getEstimatedBiasesAsMatrix(com.irurueta.algebra.Matrix result)

Gets column matrix containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).

AngularSpeedTriad

getEstimatedBiasStandardDeviation()

Gets standard deviation of estimated gyroscope bias coordinates.

boolean

getEstimatedBiasStandardDeviation(AngularSpeedTriad result)

Gets standard deviation of estimated gyroscope bias coordinates.

Double

getEstimatedBiasStandardDeviationAverage()

Gets average of estimated standard deviation of gyroscope bias coordinates expressed in radians per second (rad/s).

com.irurueta.units.AngularSpeed

getEstimatedBiasStandardDeviationAverageAsAngularSpeed()

Gets average of estimated standard deviation of gyroscope bias coordinates.

boolean

getEstimatedBiasStandardDeviationAverageAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets average of estimated standard deviation of gyroscope bias coordinates.

Double

getEstimatedBiasStandardDeviationNorm()

Gets norm of estimated standard deviation of gyroscope bias expressed in radians per second (rad/s).

com.irurueta.units.AngularSpeed

getEstimatedBiasStandardDeviationNormAsAngularSpeed()

Gets norm of estimated standard deviation of gyroscope bias.

boolean

getEstimatedBiasStandardDeviationNormAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets norm of estimated standard deviation of gyroscope bias coordinates.

Double

getEstimatedBiasX()

Gets x coordinate of estimated gyroscope bias expressed in radians per second (rad/s).

Double

getEstimatedBiasXStandardDeviation()

Gets standard deviation of estimated x coordinate of gyroscope bias expressed in radians per second (rad/s).

com.irurueta.units.AngularSpeed

getEstimatedBiasXStandardDeviationAsAngularSpeed()

Gets standard deviation of estimated x coordinate of gyroscope bias.

boolean

getEstimatedBiasXStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets standard deviation of estimated x coordinate of gyroscope bias.

Double

getEstimatedBiasXVariance()

Gets variance of estimated x coordinate of gyroscope bias expressed in (rad^2/s^2).

Double

getEstimatedBiasY()

Gets y coordinate of estimated gyroscope bias expressed in radians per second (rad/s).

Double

getEstimatedBiasYStandardDeviation()

Gets standard deviation of estimated y coordinate of gyroscope bias expressed in radians per second (rad/s).

com.irurueta.units.AngularSpeed

getEstimatedBiasYStandardDeviationAsAngularSpeed()

Gets standard deviation of estimated y coordinate of gyroscope bias.

boolean

getEstimatedBiasYStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets standard deviation of estimated y coordinate of gyroscope bias.

Double

getEstimatedBiasYVariance()

Gets variance of estimated y coordinate of gyroscope bias expressed in (rad^2/s^2).

Double

getEstimatedBiasZ()

Gets z coordinate of estimated gyroscope bias expressed in radians per second (rad/s).

Double

getEstimatedBiasZStandardDeviation()

Gets standard deviation of estimated z coordinate of gyroscope bias expressed in radians per second (rad/s).

com.irurueta.units.AngularSpeed

getEstimatedBiasZStandardDeviationAsAngularSpeed()

Gets standard deviation of estimated z coordinate of gyroscope bias.

boolean

getEstimatedBiasZStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets standard deviation of estimated z coordinate of gyroscope bias.

Double

getEstimatedBiasZVariance()

Gets variance of estimated z coordinate of gyroscope bias expressed in (rad^2/s^2).

double

getEstimatedChiSq()

Gets estimated chi square value.

com.irurueta.algebra.Matrix

getEstimatedCovariance()

Gets estimated covariance matrix for estimated calibration solution.

com.irurueta.algebra.Matrix

getEstimatedGg()

Gets estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

com.irurueta.algebra.Matrix

getEstimatedMg()

Gets estimated gyroscope scale factors and cross coupling errors.

double

getEstimatedMse()

Gets estimated mean square error respect to provided measurements.

Double

getEstimatedMxy()

Gets estimated x-y cross-coupling error.

Double

getEstimatedMxz()

Gets estimated x-z cross-coupling error.

Double

getEstimatedMyx()

Gets estimated y-x cross-coupling error.

Double

getEstimatedMyz()

Gets estimated y-z cross-coupling error.

Double

getEstimatedMzx()

Gets estimated z-x cross-coupling error.

Double

getEstimatedMzy()

Gets estimated z-y cross-coupling error.

Double

getEstimatedSx()

Gets estimated x-axis scale factor.

Double

getEstimatedSy()

Gets estimated y-axis scale factor.

Double

getEstimatedSz()

Gets estimated z-axis scale factor.

double[]

getInitialBias()

Gets initial bias to be used to find a solution as an array.

void

getInitialBias(double[] result)

Gets initial bias to be used to find a solution as an array.

com.irurueta.units.AngularSpeed

getInitialBiasAngularSpeedX()

Gets initial x-coordinate of gyroscope bias to be used to find a solution.

void

getInitialBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)

Gets initial x-coordinate of gyroscope bias to be used to find a solution.

com.irurueta.units.AngularSpeed

getInitialBiasAngularSpeedY()

Gets initial y-coordinate of gyroscope bias to be used to find a solution.

void

getInitialBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)

Gets initial y-coordinate of gyroscope bias to be used to find a solution.

com.irurueta.units.AngularSpeed

getInitialBiasAngularSpeedZ()

Gets initial z-coordinate of gyroscope bias to be used to find a solution.

void

getInitialBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)

Gets initial z-coordinate of gyroscope bias to be used to find a solution.

com.irurueta.algebra.Matrix

getInitialBiasAsMatrix()

Gets initial bias to be used to find a solution as a column matrix.

void

getInitialBiasAsMatrix(com.irurueta.algebra.Matrix result)

Gets initial bias to be used to find a solution as a column matrix.

AngularSpeedTriad

getInitialBiasAsTriad()

Gets initial bias coordinates of gyroscope used to find a solution.

void

getInitialBiasAsTriad(AngularSpeedTriad result)

Gets initial bias coordinates of gyroscope used to find a solution.

double

getInitialBiasX()

Gets initial x-coordinate of gyroscope bias to be used to find a solutions.

double

getInitialBiasY()

Gets initial y-coordinate of gyroscope bias to be used to find a solution.

double

getInitialBiasZ()

Gets initial z-coordinate of gyroscope bias to be used to find a solution.

com.irurueta.algebra.Matrix

getInitialGg()

Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

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.

com.irurueta.algebra.Matrix

getInitialMg()

Gets initial scale factors and cross coupling errors matrix.

void

getInitialMg(com.irurueta.algebra.Matrix result)

Gets initial scale factors and cross coupling errors matrix.

double

getInitialMxy()

Gets initial x-y cross coupling error.

double

getInitialMxz()

Gets initial x-z cross coupling error.

double

getInitialMyx()

Gets initial y-x cross coupling error.

double

getInitialMyz()

Gets initial y-z cross coupling error.

double

getInitialMzx()

Gets initial z-x cross coupling error.

double

getInitialMzy()

Gets initial z-y cross coupling error.

double

getInitialSx()

Gets initial x scaling factor.

double

getInitialSy()

Gets initial y scaling factor.

double

getInitialSz()

Gets initial z scaling factor.

com.irurueta.numerical.robust.InliersData

getInliersData()

Gets data related to inliers found after estimation.

RobustKnownFrameGyroscopeCalibratorListener

getListener()

Gets listener to handle events raised by this estimator.

int

getMaxIterations()

Returns maximum allowed number of iterations.

GyroscopeCalibratorMeasurementOrSequenceType

getMeasurementOrSequenceType()

Indicates the type of measurement or sequence used by this calibrator.

List<StandardDeviationFrameBodyKinematics>

getMeasurements()

Gets a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements.

abstract com.irurueta.numerical.robust.RobustEstimatorMethod

getMethod()

Returns method being used for robust estimation.

int

getMinimumRequiredMeasurementsOrSequences()

Gets minimum number of required measurements.

int

getPreliminarySubsetSize()

Gets size of subsets to be checked during robust estimation.

float

getProgressDelta()

Returns amount of progress variation before notifying a progress change during calibration.

double[]

getQualityScores()

Returns quality scores corresponding to each measurement.

boolean

isCommonAxisUsed()

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

boolean

isCovarianceKept()

Indicates whether covariance must be kept after refining result.

boolean

isLinearCalibratorUsed()

Indicates whether a linear calibrator is used or not for preliminary solutions.

boolean

isOrderedMeasurementsOrSequencesRequired()

Indicates whether this calibrator requires ordered measurements or sequences in a list or not.

boolean

isPreliminarySolutionRefined()

Indicates whether preliminary solutions must be refined after an initial linear solution is found.

boolean

isReady()

Indicates whether calibrator is ready to start.

boolean

isResultRefined()

Indicates whether result must be refined using a non-linear solver over found inliers.

boolean

isRunning()

Indicates whether calibrator is currently running or not.

void

setCommonAxisUsed(boolean commonAxisUsed)

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

void

setConfidence(double confidence)

Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

void

setCovarianceKept(boolean keepCovariance)

Specifies whether covariance must be kept after refining result.

void

setInitialBias(double[] initialBias)

Sets initial bias to be used to find a solution as an array.

void

setInitialBias(double initialBiasX, double initialBiasY, double initialBiasZ)

Sets initial bias coordinates of gyroscope used to find a solution expressed in radians per second (rad/s).

void

setInitialBias(com.irurueta.algebra.Matrix initialBias)

Sets initial bias to be used to find a solution as a column matrix with values expressed in radians per second (rad/s).

void

setInitialBias(AngularSpeedTriad initialBias)

Sets initial bias coordinates of gyroscope used to find a solution.

void

setInitialBias(com.irurueta.units.AngularSpeed initialBiasX, com.irurueta.units.AngularSpeed initialBiasY, com.irurueta.units.AngularSpeed initialBiasZ)

Sets initial bias coordinates of gyroscope used to find a solution.

void

setInitialBiasX(double initialBiasX)

Sets initial x-coordinate of gyroscope bias to be used to find a solution.

void

setInitialBiasX(com.irurueta.units.AngularSpeed initialBiasX)

Sets initial x-coordinate of gyroscope bias to be used to find a solution.

void

setInitialBiasY(double initialBiasY)

Sets initial y-coordinate of gyroscope bias to be used to find a solution.

void

setInitialBiasY(com.irurueta.units.AngularSpeed initialBiasY)

Sets initial y-coordinate of gyroscope bias to be used to find a solution.

void

setInitialBiasZ(double initialBiasZ)

Sets initial z-coordinate of gyroscope bias to be used to find a solution.

void

setInitialBiasZ(com.irurueta.units.AngularSpeed initialBiasZ)

Sets initial z-coordinate of gyroscope bias to be used to find a solution.

void

setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)

Sets initial cross coupling errors.

void

setInitialGg(com.irurueta.algebra.Matrix initialGg)

Sets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

void

setInitialMg(com.irurueta.algebra.Matrix initialMg)

Sets initial scale factors and cross coupling errors matrix.

void

setInitialMxy(double initialMxy)

Sets initial x-y cross coupling error.

void

setInitialMxz(double initialMxz)

Sets initial x-z cross coupling error.

void

setInitialMyx(double initialMyx)

Sets initial y-x cross coupling error.

void

setInitialMyz(double initialMyz)

Sets initial y-z cross coupling error.

void

setInitialMzx(double initialMzx)

Sets initial z-x cross coupling error.

void

setInitialMzy(double initialMzy)

Sets initial z-y cross coupling error.

void

setInitialScalingFactors(double initialSx, double initialSy, double initialSz)

Sets initial scaling factors.

void

setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)

Sets initial scaling factors and cross coupling errors.

void

setInitialSx(double initialSx)

Sets initial x scaling factor.

void

setInitialSy(double initialSy)

Sets initial y scaling factor.

void

setInitialSz(double initialSz)

Sets initial z scaling factor.

void

setLinearCalibratorUsed(boolean linearCalibratorUsed)

Specifies whether a linear calibrator is used or not for preliminary solutions.

void

setListener(RobustKnownFrameGyroscopeCalibratorListener listener)

Sets listener to handle events raised by this estimator.

void

setMaxIterations(int maxIterations)

Sets maximum allowed number of iterations.

void

setMeasurements(List<StandardDeviationFrameBodyKinematics> measurements)

Sets a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements.

void

setPreliminarySolutionRefined(boolean preliminarySolutionRefined)

Specifies whether preliminary solutions must be refined after an initial linear solution is found.

void

setPreliminarySubsetSize(int preliminarySubsetSize)

Sets size of subsets to be checked during robust estimation.

void

setProgressDelta(float progressDelta)

Sets amount of progress variation before notifying a progress change during calibration.

void

setQualityScores(double[] qualityScores)

Sets quality scores corresponding to each measurement.

void

setResultRefined(boolean refineResult)

Specifies whether result must be refined using a non-linear solver over found inliers.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeCalibrator
calibrate, isQualityScoresRequired

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:
  
  Constant Field Values
- MINIMUM_MEASUREMENTS
  
  public static final int MINIMUM_MEASUREMENTS
  
  Required minimum number of measurements.
  See Also:
  
  Constant Field Values
- DEFAULT_USE_LINEAR_CALIBRATOR
  
  public static final boolean DEFAULT_USE_LINEAR_CALIBRATOR
  
  Indicates that by default a linear calibrator is used for preliminary solution estimation. The result obtained on each preliminary solution might be later refined.
  See Also:
  
  Constant Field Values
- DEFAULT_REFINE_PRELIMINARY_SOLUTIONS
  
  public static final boolean DEFAULT_REFINE_PRELIMINARY_SOLUTIONS
  
  Indicates that by default preliminary solutions are refined.
  See Also:
  
  Constant Field Values
- 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:
  
  Constant Field Values
- DEFAULT_KEEP_COVARIANCE
  
  public static final boolean DEFAULT_KEEP_COVARIANCE
  
  Indicates that covariance is kept by default after refining result.
  See Also:
  
  Constant Field Values
- 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:
  
  Constant Field Values
- MIN_PROGRESS_DELTA
  
  public static final float MIN_PROGRESS_DELTA
  
  Minimum allowed value for progress delta.
  See Also:
  
  Constant Field Values
- MAX_PROGRESS_DELTA
  
  public static final float MAX_PROGRESS_DELTA
  
  Maximum allowed value for progress delta.
  See Also:
  
  Constant Field Values
- 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:
  
  Constant Field Values
- DEFAULT_MAX_ITERATIONS
  
  public static final int DEFAULT_MAX_ITERATIONS
  
  Default maximum allowed number of iterations.
  See Also:
  
  Constant Field Values
- MIN_CONFIDENCE
  
  public static final double MIN_CONFIDENCE
  
  Minimum allowed confidence value.
  See Also:
  
  Constant Field Values
- MAX_CONFIDENCE
  
  public static final double MAX_CONFIDENCE
  
  Maximum allowed confidence value.
  See Also:
  
  Constant Field Values
- MIN_ITERATIONS
  
  public static final int MIN_ITERATIONS
  
  Minimum allowed number of iterations.
  See Also:
  
  Constant Field Values
- measurements
  
  protected List<StandardDeviationFrameBodyKinematics> measurements
  
  Contains a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
- listener
  
  protected RobustKnownFrameGyroscopeCalibratorListener listener
  
  Listener to be notified of events such as when calibration starts, ends or its progress significantly changes.
- running
  
  protected boolean running
  
  Indicates whether estimator 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.
- 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 Ma matrix.
- 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 x scaling factor.
- initialSy
  
  private double initialSy
  
  Initial y scaling factor.
- initialSz
  
  private double initialSz
  
  Initial z scaling factor.
- initialMxy
  
  private double initialMxy
  
  Initial x-y cross coupling error.
- initialMxz
  
  private double initialMxz
  
  Initial x-z cross coupling error.
- initialMyx
  
  private double initialMyx
  
  Initial y-x cross coupling error.
- initialMyz
  
  private double initialMyz
  
  Initial y-z cross coupling error.
- initialMzx
  
  private double initialMzx
  
  Initial z-x cross coupling error.
- initialMzy
  
  private double initialMzy
  
  Initial 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.
- useLinearCalibrator
  
  private boolean useLinearCalibrator
  
  Indicates whether a linear calibrator is used or not for preliminary solutions.
- refinePreliminarySolutions
  
  private boolean refinePreliminarySolutions
  
  Indicates whether preliminary solutions must be refined after an initial linear solution is found.
- estimatedBiases
  
  private double[] estimatedBiases
  
  Estimated gyroscope biases for each IMU axis expressed in radians per second (rad/s).
- estimatedMg
  
  private com.irurueta.algebra.Matrix estimatedMg
  Estimated gyroscope scale factors and cross coupling errors. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So that:
  Mg = [sx mxy mxz] = Tg*Kg [myx sy myz] [mzx mzy sz ]
  Where:
  Kg = [sx 0 0 ] [0 sy 0 ] [0 0 sz]
  and
  Tg = [1 -alphaXy alphaXz ] [alphaYx 1 -alphaYz] [-alphaZx alphaZy 1 ]
  Hence:
  Mg = [sx mxy mxz] = Tg*Kg = [sx -sy * alphaXy sz * alphaXz ] [myx sy myz] [sx * alphaYx sy -sz * alphaYz] [mzx mzy sz ] [-sx * alphaZx sy * alphaZy sz ]
  This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the gyroscope z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix becomes upper diagonal:
  Mg = [sx mxy mxz] [0 sy myz] [0 0 sz ]
  Values of this matrix are unit-less.
- estimatedGg
  
  private com.irurueta.algebra.Matrix estimatedGg
  
  Estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. This instance allows any 3x3 matrix.
- keepCovariance
  
  private boolean keepCovariance
  
  Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
- estimatedCovariance
  
  private com.irurueta.algebra.Matrix estimatedCovariance
  
  Estimated covariance of estimated position. This is only available when result has been refined and covariance is kept.
- estimatedChiSq
  
  private double estimatedChiSq
  
  Estimated chi square value.
- estimatedMse
  
  private double estimatedMse
  
  Estimated mean square error respect to provided measurements.
- linearCalibrator
  
  private final KnownFrameGyroscopeLinearLeastSquaresCalibrator linearCalibrator
  
  A linear least squares calibrator.
- nonLinearCalibrator
  
  private final KnownFrameGyroscopeNonLinearLeastSquaresCalibrator nonLinearCalibrator
  
  A non-linear least squares calibrator.
Constructor Details
- RobustKnownFrameGyroscopeCalibrator
  
  protected RobustKnownFrameGyroscopeCalibrator()
  
  Constructor.
- RobustKnownFrameGyroscopeCalibrator
  
  protected RobustKnownFrameGyroscopeCalibrator(RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Constructor.
  
  Parameters:
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
- RobustKnownFrameGyroscopeCalibrator
  
  protected RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)
  
  Constructor.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
- RobustKnownFrameGyroscopeCalibrator
  
  protected RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Constructor.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
- RobustKnownFrameGyroscopeCalibrator
  
  protected RobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed)
  
  Constructor.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
- RobustKnownFrameGyroscopeCalibrator
  
  protected RobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Constructor.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  listener - listener to handle events raised by this calibrator.
- RobustKnownFrameGyroscopeCalibrator
  
  protected RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)
  
  Constructor.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
- RobustKnownFrameGyroscopeCalibrator
  
  protected RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Constructor.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  listener - listener to handle events raised by this calibrator.
Method Details
- getInitialBiasX
  
  public double getInitialBiasX()
  
  Gets initial x-coordinate of gyroscope bias to be used to find a solutions. This is expressed in radians per second (rad/s) and only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialBiasX in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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) and only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialBiasX in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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) and only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialBiasY in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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) and only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialBiasY in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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 to be used to find a solution. This is expressed in radians per second (rad/s) and only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialBiasZ in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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) and only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialBiasZ in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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.
  
  Specified by:
  
  getInitialBiasAngularSpeedX in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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.
  
  Specified by:
  
  getInitialBiasAngularSpeedX in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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.
  
  Specified by:
  
  setInitialBiasX in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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.
  
  Specified by:
  
  getInitialBiasAngularSpeedY in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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.
  
  Specified by:
  
  getInitialBiasAngularSpeedY in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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.
  
  Specified by:
  
  setInitialBiasY in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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.
  
  Specified by:
  
  getInitialBiasAngularSpeedZ in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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.
  
  Specified by:
  
  getInitialBiasAngularSpeedZ in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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.
  
  Specified by:
  
  setInitialBiasZ in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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).
  
  Specified by:
  
  setInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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.
  
  Specified by:
  
  setInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialSx in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  initial x scaling factor.
- setInitialSx
  
  public void setInitialSx(double initialSx) throws com.irurueta.navigation.LockedException
  
  Sets initial x scaling factor. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialSx in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialSx - initial x scaling factor.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialSy
  
  public double getInitialSy()
  
  Gets initial y scaling factor. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialSy in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  initial y scaling factor.
- setInitialSy
  
  public void setInitialSy(double initialSy) throws com.irurueta.navigation.LockedException
  
  Sets initial y scaling factor. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialSy in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialSy - initial y scaling factor.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialSz
  
  public double getInitialSz()
  
  Gets initial z scaling factor. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialSz in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  initial z scaling factor.
- setInitialSz
  
  public void setInitialSz(double initialSz) throws com.irurueta.navigation.LockedException
  
  Sets initial z scaling factor. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialSz in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialSz - initial z scaling factor.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMxy
  
  public double getInitialMxy()
  
  Gets initial x-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialMxy in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  initial x-y cross coupling error.
- setInitialMxy
  
  public void setInitialMxy(double initialMxy) throws com.irurueta.navigation.LockedException
  
  Sets initial x-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialMxy in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialMxy - initial x-y cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMxz
  
  public double getInitialMxz()
  
  Gets initial x-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialMxz in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  initial x-z cross coupling error.
- setInitialMxz
  
  public void setInitialMxz(double initialMxz) throws com.irurueta.navigation.LockedException
  
  Sets initial x-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialMxz in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialMxz - initial x-z cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMyx
  
  public double getInitialMyx()
  
  Gets initial y-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialMyx in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  initial y-x cross coupling error.
- setInitialMyx
  
  public void setInitialMyx(double initialMyx) throws com.irurueta.navigation.LockedException
  
  Sets initial y-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialMyx in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialMyx - initial y-x cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMyz
  
  public double getInitialMyz()
  
  Gets initial y-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialMyz in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  initial y-z cross coupling error.
- setInitialMyz
  
  public void setInitialMyz(double initialMyz) throws com.irurueta.navigation.LockedException
  
  Sets initial y-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialMyz in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialMyz - initial y-z cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMzx
  
  public double getInitialMzx()
  
  Gets initial z-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialMzx in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  initial z-x cross coupling error.
- setInitialMzx
  
  public void setInitialMzx(double initialMzx) throws com.irurueta.navigation.LockedException
  
  Sets initial z-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialMzx in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialMzx - initial z-x cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMzy
  
  public double getInitialMzy()
  
  Gets initial z-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  getInitialMzy in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  initial z-y cross coupling error.
- setInitialMzy
  
  public void setInitialMzy(double initialMzy) throws com.irurueta.navigation.LockedException
  
  Sets initial z-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialMzy in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialMzy - initial z-y cross coupling error.
  
  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. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialScalingFactors in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialSx - initial x scaling factor.
  
  initialSy - initial y scaling factor.
  
  initialSz - initial z scaling factor.
  
  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. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialCrossCouplingErrors in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialMxy - initial x-y cross coupling error.
  
  initialMxz - initial x-z cross coupling error.
  
  initialMyx - initial y-x cross coupling error.
  
  initialMyz - initial y-z cross coupling error.
  
  initialMzx - initial z-x cross coupling error.
  
  initialMzy - initial z-y cross coupling error.
  
  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. This is only taken into account if non-linear preliminary solutions are used.
  
  Specified by:
  
  setInitialScalingFactorsAndCrossCouplingErrors in interface GyroscopeNonLinearCalibrator
  
  Parameters:
  
  initialSx - initial x scaling factor.
  
  initialSy - initial y scaling factor.
  
  initialSz - initial z scaling factor.
  
  initialMxy - initial x-y cross coupling error.
  
  initialMxz - initial x-z cross coupling error.
  
  initialMyx - initial y-x cross coupling error.
  
  initialMyz - initial y-z cross coupling error.
  
  initialMzx - initial z-x cross coupling error.
  
  initialMzy - initial z-y cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialBias
  
  public double[] getInitialBias()
  
  Gets initial bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).
  
  Specified by:
  
  getInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  Returns:
  
  array containing coordinates of initial bias.
- getInitialBias
  
  public void getInitialBias(double[] result)
  
  Gets initial bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).
  
  Specified by:
  
  getInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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 bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).
  
  Specified by:
  
  setInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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 bias to be used to find a solution as a column matrix. Values are expressed in radians per second (rad/s).
  
  Specified by:
  
  getInitialBiasAsMatrix in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  Returns:
  
  initial bias to be used to find a solution as a column matrix.
- getInitialBiasAsMatrix
  
  public void getInitialBiasAsMatrix(com.irurueta.algebra.Matrix result)
  
  Gets initial bias to be used to find a solution as a column matrix. Values are expressed in radians per second (rad/s).
  
  Specified by:
  
  getInitialBiasAsMatrix in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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 bias to be used to find a solution as a column matrix with values expressed in radians per second (rad/s).
  
  Specified by:
  
  setInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  Parameters:
  
  initialBias - initial 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.
  
  Specified by:
  
  getInitialBiasAsTriad in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  Returns:
  
  initial bias coordinates.
- getInitialBiasAsTriad
  
  public void getInitialBiasAsTriad(AngularSpeedTriad result)
  
  Gets initial bias coordinates of gyroscope used to find a solution.
  
  Specified by:
  
  getInitialBiasAsTriad in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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.
  
  Specified by:
  
  setInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator
  
  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 scale factors and cross coupling errors matrix.
  
  Specified by:
  
  getInitialMg in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  initial scale factors and cross coupling errors matrix.
- getInitialMg
  
  public void getInitialMg(com.irurueta.algebra.Matrix result)
  
  Gets initial 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 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.
- getMeasurements
  
  public List<StandardDeviationFrameBodyKinematics> getMeasurements()
  
  Gets a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
  
  Specified by:
  
  getMeasurements in interface OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator
  
  Returns:
  
  a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).
- setMeasurements
  
  public void setMeasurements(List<StandardDeviationFrameBodyKinematics> measurements) throws com.irurueta.navigation.LockedException
  
  Sets a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
  
  Specified by:
  
  setMeasurements in interface OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator
  
  Parameters:
  
  measurements - collection of body kinematics measurements taken at different frames (positions, orientations and velocities).
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- 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.
- getListener
  
  public RobustKnownFrameGyroscopeCalibratorListener getListener()
  
  Gets listener to handle events raised by this estimator.
  
  Returns:
  
  listener to handle events raised by this estimator.
- setListener
  
  public void setListener(RobustKnownFrameGyroscopeCalibratorListener 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 measurements.
  
  Specified by:
  
  getMinimumRequiredMeasurementsOrSequences in interface GyroscopeCalibrator
  
  Returns:
  
  minimum number of required measurements.
- 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.
- isLinearCalibratorUsed
  
  public boolean isLinearCalibratorUsed()
  
  Indicates whether a linear calibrator is used or not for preliminary solutions.
  
  Returns:
  
  indicates whether a linear calibrator is used or not for preliminary solutions.
- setLinearCalibratorUsed
  
  public void setLinearCalibratorUsed(boolean linearCalibratorUsed) throws com.irurueta.navigation.LockedException
  
  Specifies whether a linear calibrator is used or not for preliminary solutions.
  
  Parameters:
  
  linearCalibratorUsed - indicates whether a linear calibrator is used or not for preliminary solutions.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- isPreliminarySolutionRefined
  
  public boolean isPreliminarySolutionRefined()
  
  Indicates whether preliminary solutions must be refined after an initial linear solution is found. If no initial solution is found using a linear solver, a non linear solver will be used regardless of this value using an average solution as the initial value to be refined.
  
  Returns:
  
  true if preliminary solutions must be refined after an initial linear solution, false otherwise.
- setPreliminarySolutionRefined
  
  public void setPreliminarySolutionRefined(boolean preliminarySolutionRefined) throws com.irurueta.navigation.LockedException
  
  Specifies whether preliminary solutions must be refined after an initial linear solution is found. If no initial solution is found using a linear solver, a non linear solver will be used regardless of this value using an average solution as the initial value to be refined.
  
  Parameters:
  
  preliminarySolutionRefined - true if preliminary solutions must be refined after an initial linear solution, false otherwise.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- 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 measurement. 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 measurement. 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 pair of matched points.
  
  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 x-axis scale factor.
  
  Specified by:
  
  getEstimatedSx in interface GyroscopeCalibrator
  
  Returns:
  
  estimated x-axis scale factor or null if not available.
- getEstimatedSy
  
  public Double getEstimatedSy()
  
  Gets estimated y-axis scale factor.
  
  Specified by:
  
  getEstimatedSy in interface GyroscopeCalibrator
  
  Returns:
  
  estimated y-axis scale factor or null if not available.
- getEstimatedSz
  
  public Double getEstimatedSz()
  
  Gets estimated z-axis scale factor.
  
  Specified by:
  
  getEstimatedSz in interface GyroscopeCalibrator
  
  Returns:
  
  estimated z-axis scale factor or null if not available.
- getEstimatedMxy
  
  public Double getEstimatedMxy()
  
  Gets estimated x-y cross-coupling error.
  
  Specified by:
  
  getEstimatedMxy in interface GyroscopeCalibrator
  
  Returns:
  
  estimated x-y cross-coupling error or null if not available.
- getEstimatedMxz
  
  public Double getEstimatedMxz()
  
  Gets estimated x-z cross-coupling error.
  
  Specified by:
  
  getEstimatedMxz in interface GyroscopeCalibrator
  
  Returns:
  
  estimated x-z cross-coupling error or null if not available.
- getEstimatedMyx
  
  public Double getEstimatedMyx()
  
  Gets estimated y-x cross-coupling error.
  
  Specified by:
  
  getEstimatedMyx in interface GyroscopeCalibrator
  
  Returns:
  
  estimated y-x cross-coupling error or null if not available.
- getEstimatedMyz
  
  public Double getEstimatedMyz()
  
  Gets estimated y-z cross-coupling error.
  
  Specified by:
  
  getEstimatedMyz in interface GyroscopeCalibrator
  
  Returns:
  
  estimated y-z cross-coupling error or null if not available.
- getEstimatedMzx
  
  public Double getEstimatedMzx()
  
  Gets estimated z-x cross-coupling error.
  
  Specified by:
  
  getEstimatedMzx in interface GyroscopeCalibrator
  
  Returns:
  
  estimated z-x cross-coupling error or null if not available.
- getEstimatedMzy
  
  public Double getEstimatedMzy()
  
  Gets estimated z-y cross-coupling error.
  
  Specified by:
  
  getEstimatedMzy in interface GyroscopeCalibrator
  
  Returns:
  
  estimated 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.
- 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.
- getEstimatedChiSq
  
  public double getEstimatedChiSq()
  
  Gets estimated chi square value.
  
  Specified by:
  
  getEstimatedChiSq in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  estimated chi square value.
- getEstimatedCovariance
  
  public com.irurueta.algebra.Matrix getEstimatedCovariance()
  
  Gets estimated covariance matrix for estimated calibration solution. 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. This is only available when result has been refined and covariance is kept.
  
  Specified by:
  
  getEstimatedCovariance in interface GyroscopeNonLinearCalibrator
  
  Returns:
  
  estimated covariance matrix for estimated position.
- 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 MINIMUM_MEASUREMENTS.
  
  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 MINIMUM_MEASUREMENTS.
  
  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 MINIMUM_MEASUREMENTS.
- 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 RobustKnownFrameGyroscopeCalibrator 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 RobustKnownFrameGyroscopeCalibrator create(RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientation and velocities).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust gyroscope calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create()
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  listener - listener to handle events raised by this calibrator.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(boolean commonAxisUsed)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  Returns:
  
  a robust accelerometer calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  listener - listener to handle events raised by this calibrator.
  
  Returns:
  
  a robust accelerometer calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different (positions, orientations and velocities).
  
  commonAxisUsed - indicates whether z-axis is assigned to be common for accelerometer and gyroscope.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  listener - listener to handle events raised by this calibrator.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements)
  
  Creates a robust gyroscope calibrator using default robust method
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  listener - listener to handle events raised by this calibrator.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, boolean commonAxisUsed)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  listener - listener to handle events raised by this calibrator.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  Returns:
  
  a robust gyroscope calibrator.
- create
  
  public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)
  
  Creates a robust gyroscope calibrator using default robust method.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
  
  listener - listener to handle events raised by this calibrator.
  
  Returns:
  
  a robust gyroscope calibrator.
- computeError
  
  protected double computeError(StandardDeviationFrameBodyKinematics measurement, RobustKnownFrameGyroscopeCalibrator.PreliminaryResult preliminaryResult)
  
  Computes error of a preliminary result respect a given measurement.
  
  Parameters:
  
  measurement - a measurement.
  
  preliminaryResult - a preliminary result.
  
  Returns:
  
  computed error.
- computePreliminarySolutions
  
  protected void computePreliminarySolutions(int[] samplesIndices, List<RobustKnownFrameGyroscopeCalibrator.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(RobustKnownFrameGyroscopeCalibrator.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.
- 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.

Class RobustKnownFrameGyroscopeCalibrator

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Methods inherited from interface com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeCalibrator

Field Details

DEFAULT_USE_COMMON_Z_AXIS

MINIMUM_MEASUREMENTS

DEFAULT_USE_LINEAR_CALIBRATOR

DEFAULT_REFINE_PRELIMINARY_SOLUTIONS

DEFAULT_ROBUST_METHOD

DEFAULT_REFINE_RESULT

DEFAULT_KEEP_COVARIANCE

DEFAULT_PROGRESS_DELTA

MIN_PROGRESS_DELTA

MAX_PROGRESS_DELTA

DEFAULT_CONFIDENCE

DEFAULT_MAX_ITERATIONS

MIN_CONFIDENCE

MAX_CONFIDENCE

MIN_ITERATIONS

measurements

listener

running

progressDelta

confidence

maxIterations

inliersData

refineResult

preliminarySubsetSize

commonAxisUsed

initialBiasX

initialBiasY

initialBiasZ

initialSx

initialSy

initialSz

initialMxy

initialMxz

initialMyx

initialMyz

initialMzx

initialMzy

initialGg

useLinearCalibrator

refinePreliminarySolutions

estimatedBiases

estimatedMg

estimatedGg

keepCovariance

estimatedCovariance

estimatedChiSq

estimatedMse

linearCalibrator

nonLinearCalibrator

Constructor Details

RobustKnownFrameGyroscopeCalibrator

RobustKnownFrameGyroscopeCalibrator

RobustKnownFrameGyroscopeCalibrator

RobustKnownFrameGyroscopeCalibrator

RobustKnownFrameGyroscopeCalibrator

RobustKnownFrameGyroscopeCalibrator

RobustKnownFrameGyroscopeCalibrator

RobustKnownFrameGyroscopeCalibrator

Method Details

getInitialBiasX

setInitialBiasX

getInitialBiasY

setInitialBiasY

getInitialBiasZ

setInitialBiasZ

getInitialBiasAngularSpeedX

getInitialBiasAngularSpeedX

setInitialBiasX

getInitialBiasAngularSpeedY

getInitialBiasAngularSpeedY

setInitialBiasY

getInitialBiasAngularSpeedZ