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

Interface UnorderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator

All Superinterfaces:

GyroscopeCalibrator

All Known Implementing Classes:

KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator, KnownFrameGyroscopeNonLinearLeastSquaresCalibrator

public interface UnorderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator
extends GyroscopeCalibrator

Defines a gyroscope calibrator using unordered collections of StandardDeviationFrameBodyKinematics measurements.

Method Summary

Modifier and Type	Method	Description
Collection<StandardDeviationFrameBodyKinematics>	getMeasurements()	Gets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).
void	setMeasurements(Collection<? extends StandardDeviationFrameBodyKinematics> measurements)	Sets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

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

calibrate, getEstimatedGg, getEstimatedMg, getEstimatedMxy, getEstimatedMxz, getEstimatedMyx, getEstimatedMyz, getEstimatedMzx, getEstimatedMzy, getEstimatedSx, getEstimatedSy, getEstimatedSz, getMeasurementOrSequenceType, getMinimumRequiredMeasurementsOrSequences, isCommonAxisUsed, isOrderedMeasurementsOrSequencesRequired, isQualityScoresRequired, isReady, isRunning, setCommonAxisUsed

Method Details

getMeasurements

Collection<StandardDeviationFrameBodyKinematics> getMeasurements()

Gets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities). 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.

Returns:

a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

setMeasurements

void setMeasurements(Collection<? extends StandardDeviationFrameBodyKinematics> measurements)
              throws com.irurueta.navigation.LockedException

Sets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities). 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.

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.