Package com.irurueta.navigation.inertial.calibration.noise

Class AccumulatedAccelerationMeasurementNoiseEstimator

java.lang.Object

com.irurueta.navigation.inertial.calibration.noise.AccumulatedMeasurementNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccumulatedAccelerationMeasurementNoiseEstimator,AccumulatedAccelerationMeasurementNoiseEstimatorListener>

com.irurueta.navigation.inertial.calibration.noise.AccumulatedAccelerationMeasurementNoiseEstimator

All Implemented Interfaces:

AccelerometerNoiseRootPsdSource

public class AccumulatedAccelerationMeasurementNoiseEstimator
extends AccumulatedMeasurementNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccumulatedAccelerationMeasurementNoiseEstimator,AccumulatedAccelerationMeasurementNoiseEstimatorListener>
implements AccelerometerNoiseRootPsdSource

Estimates accumulated acceleration noise variances and PSD's (Power Spectral Densities) along with their average values. Norms of acceleration triads can be used to estimate noise levels. This estimator must be used when the body where the accelerometer is attached remains static on the same position with zero velocity while capturing data. To compute PSD's, this estimator assumes that measurement samples are obtained at a constant provided rate equal to AccumulatedMeasurementNoiseEstimator.getTimeInterval() seconds. If not available, accelerometer sampling rate average can be estimated using TimeIntervalEstimator. This estimator does NOT require the knowledge of current location and body orientation. This implementation of noise estimator will use the following units: - meters per squared second (m/s^2) for acceleration, average or standard deviation values. - (m^2/s^4) for acceleration variances. - (m^2 * s^-3) for accelerometer PSD (Power Spectral Density). - (m * s^-1.5) for accelerometer root PSD (Power Spectral Density).

Field Summary

Fields inherited from class com.irurueta.navigation.inertial.calibration.noise.AccumulatedMeasurementNoiseEstimator

DEFAULT_TIME_INTERVAL_SECONDS

Constructor Summary

Constructors

Constructor	Description
AccumulatedAccelerationMeasurementNoiseEstimator()	Constructor.
AccumulatedAccelerationMeasurementNoiseEstimator(AccumulatedAccelerationMeasurementNoiseEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected double	convertToDefaultUnit(com.irurueta.units.Acceleration value)	Converts provided measurement into default unit.
protected com.irurueta.units.Acceleration	createMeasurement(double value, com.irurueta.units.AccelerationUnit unit)	Creates a measurement with provided value and unit.
double	getAccelerometerBaseNoiseLevelRootPsd()	Gets accelerometer base noise level root PSD (Power Spectral Density) expressed in (m * s^-1.5).
protected com.irurueta.units.AccelerationUnit	getDefaultUnit()	Gets default unit for a measurement.

Methods inherited from class com.irurueta.navigation.inertial.calibration.noise.AccumulatedMeasurementNoiseEstimator

addMeasurement, addMeasurement, getAvg, getAvgAsMeasurement, getAvgAsMeasurement, getLastMeasurement, getLastMeasurement, getListener, getNumberOfProcessedSamples, getPsd, getRootPsd, getStandardDeviation, getStandardDeviationAsMeasurement, getStandardDeviationAsMeasurement, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getVariance, isRunning, reset, setListener, setTimeInterval, setTimeInterval

Methods inherited from class java.lang.Object

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

Constructor Details

AccumulatedAccelerationMeasurementNoiseEstimator

public AccumulatedAccelerationMeasurementNoiseEstimator()

Constructor.

AccumulatedAccelerationMeasurementNoiseEstimator

public AccumulatedAccelerationMeasurementNoiseEstimator(AccumulatedAccelerationMeasurementNoiseEstimatorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this estimator.

Method Details

getDefaultUnit

protected com.irurueta.units.AccelerationUnit getDefaultUnit()

Gets default unit for a measurement.

Specified by:

getDefaultUnit in class AccumulatedMeasurementNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccumulatedAccelerationMeasurementNoiseEstimator,AccumulatedAccelerationMeasurementNoiseEstimatorListener>

Returns:

default unit for a measurement.

createMeasurement

protected com.irurueta.units.Acceleration createMeasurement(double value,
 com.irurueta.units.AccelerationUnit unit)

Creates a measurement with provided value and unit.

Specified by:

createMeasurement in class AccumulatedMeasurementNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccumulatedAccelerationMeasurementNoiseEstimator,AccumulatedAccelerationMeasurementNoiseEstimatorListener>

Parameters:

value - value to be set.

unit - unit to be set.

Returns:

created measurement.

convertToDefaultUnit

protected double convertToDefaultUnit(com.irurueta.units.Acceleration value)

Converts provided measurement into default unit.

Specified by:

convertToDefaultUnit in class AccumulatedMeasurementNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccumulatedAccelerationMeasurementNoiseEstimator,AccumulatedAccelerationMeasurementNoiseEstimatorListener>

Parameters:

value - measurement to be converted.

Returns:

converted value.

getAccelerometerBaseNoiseLevelRootPsd

public double getAccelerometerBaseNoiseLevelRootPsd()

Gets accelerometer base noise level root PSD (Power Spectral Density) expressed in (m * s^-1.5).

Specified by:

getAccelerometerBaseNoiseLevelRootPsd in interface AccelerometerNoiseRootPsdSource

Returns:

accelerometer base noise level root PSD.