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

Class AccumulatedAngularSpeedMeasurementNoiseEstimator

java.lang.Object

com.irurueta.navigation.inertial.calibration.noise.AccumulatedMeasurementNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AccumulatedAngularSpeedMeasurementNoiseEstimator,AccumulatedAngularSpeedMeasurementNoiseEstimatorListener>

com.irurueta.navigation.inertial.calibration.noise.AccumulatedAngularSpeedMeasurementNoiseEstimator

All Implemented Interfaces:

GyroscopeNoiseRootPsdSource

public class AccumulatedAngularSpeedMeasurementNoiseEstimator
extends AccumulatedMeasurementNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AccumulatedAngularSpeedMeasurementNoiseEstimator,AccumulatedAngularSpeedMeasurementNoiseEstimatorListener>
implements GyroscopeNoiseRootPsdSource

Estimates accumulated angular speed noise variances and PSD's (Power Spectral Densities) along with their average values. Norms of angular speed triads can be used to estimate noise levels. This estimator must be used when the body where the gyroscope is attached to keeps a constant angular speed while capturing data (i.e. when body is static has a constant overall angular speed due to Earth rotation). 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, gyroscope 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: - radians per second (rad/s) for angular speed, average or standard deviation values. - (rad^2/s^2) fr angular speed variances. - (rad^2/s) for gyroscope PSD (Power Spectral Density). - (rad * s^-0.5) for gyroscope 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
AccumulatedAngularSpeedMeasurementNoiseEstimator()	Constructor.
AccumulatedAngularSpeedMeasurementNoiseEstimator(AccumulatedAngularSpeedMeasurementNoiseEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected double	convertToDefaultUnit(com.irurueta.units.AngularSpeed value)	Converts provided measurement into default unit.
protected com.irurueta.units.AngularSpeed	createMeasurement(double value, com.irurueta.units.AngularSpeedUnit unit)	Creates a measurement with provided value and unit.
protected com.irurueta.units.AngularSpeedUnit	getDefaultUnit()	Gets default unit for a measurement.
double	getGyroscopeBaseNoiseLevelRootPsd()	Gets gyroscope base noise level root PSD (Power Spectral Density) expressed in (rad * s^-0.5)

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

AccumulatedAngularSpeedMeasurementNoiseEstimator

public AccumulatedAngularSpeedMeasurementNoiseEstimator()

Constructor.

AccumulatedAngularSpeedMeasurementNoiseEstimator

public AccumulatedAngularSpeedMeasurementNoiseEstimator(AccumulatedAngularSpeedMeasurementNoiseEstimatorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this estimator.

Method Details

getDefaultUnit

protected com.irurueta.units.AngularSpeedUnit getDefaultUnit()

Gets default unit for a measurement.

Specified by:

getDefaultUnit in class AccumulatedMeasurementNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AccumulatedAngularSpeedMeasurementNoiseEstimator,AccumulatedAngularSpeedMeasurementNoiseEstimatorListener>

Returns:

default unit for a measurement.

createMeasurement

protected com.irurueta.units.AngularSpeed createMeasurement(double value,
 com.irurueta.units.AngularSpeedUnit unit)

Creates a measurement with provided value and unit.

Specified by:

createMeasurement in class AccumulatedMeasurementNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AccumulatedAngularSpeedMeasurementNoiseEstimator,AccumulatedAngularSpeedMeasurementNoiseEstimatorListener>

Parameters:

value - value to be set.

unit - unit to be set.

Returns:

created measurement.

convertToDefaultUnit

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

Converts provided measurement into default unit.

Specified by:

convertToDefaultUnit in class AccumulatedMeasurementNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AccumulatedAngularSpeedMeasurementNoiseEstimator,AccumulatedAngularSpeedMeasurementNoiseEstimatorListener>

Parameters:

value - measurement to be converted.

Returns:

converted value.

getGyroscopeBaseNoiseLevelRootPsd

public double getGyroscopeBaseNoiseLevelRootPsd()

Gets gyroscope base noise level root PSD (Power Spectral Density) expressed in (rad * s^-0.5)

Specified by:

getGyroscopeBaseNoiseLevelRootPsd in interface GyroscopeNoiseRootPsdSource

Returns:

gyroscope base noise level root PSD.