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

Class AccumulatedMagneticFluxDensityTriadNoiseEstimator

java.lang.Object

com.irurueta.navigation.inertial.calibration.noise.AccumulatedTriadNoiseEstimator<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,AccumulatedMagneticFluxDensityTriadNoiseEstimator,AccumulatedMagneticFluxDensityTriadNoiseEstimatorListener>

com.irurueta.navigation.inertial.calibration.noise.AccumulatedMagneticFluxDensityTriadNoiseEstimator

public class AccumulatedMagneticFluxDensityTriadNoiseEstimator
extends AccumulatedTriadNoiseEstimator<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,AccumulatedMagneticFluxDensityTriadNoiseEstimator,AccumulatedMagneticFluxDensityTriadNoiseEstimatorListener>

Estimates accumulated magnetometer noise variances and PSD's (Power Spectral Densities) along with their average values. This estimator must be used when the body where the magnetometer is attached remains static on the same position and orientation 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 AccumulatedTriadNoiseEstimator.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. Because body location and orientation is not known, estimated average values cannot be used to determine biases. Only norm of noise estimations (variance or standard deviation) can be safely used. This implementation of noise estimator will use the following units: - Teslas (T) for magnetic flux density, average or standard deviation values. - squared Teslas (T^2) for magnetic flux density variances. - (T^2 * s) for magnetometer PSD (Power Spectral Density). - (T * s^0.5) for magnetometer root PSD (Power Spectral Density).

Field Summary

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

DEFAULT_TIME_INTERVAL_SECONDS

Constructor Summary

Constructors

Constructor	Description
AccumulatedMagneticFluxDensityTriadNoiseEstimator()	Constructor.
AccumulatedMagneticFluxDensityTriadNoiseEstimator(AccumulatedMagneticFluxDensityTriadNoiseEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected double	convertToDefaultUnit(double value, com.irurueta.units.MagneticFluxDensityUnit unit)	Converts provided value and unit into default unit.
protected com.irurueta.units.MagneticFluxDensity	createMeasurement(double value, com.irurueta.units.MagneticFluxDensityUnit unit)	Creates a measurement with provided value and unit.
protected MagneticFluxDensityTriad	createTriad(double valueX, double valueY, double valueZ, com.irurueta.units.MagneticFluxDensityUnit unit)	Creates a triad with provided values and unit.
protected com.irurueta.units.MagneticFluxDensityUnit	getDefaultUnit()	Gets default unit for a measurement.

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

addTriad, addTriad, addTriad, getAverageStandardDeviation, getAverageStandardDeviationAsMeasurement, getAverageStandardDeviationAsMeasurement, getAvgNoisePsd, getAvgNorm, getAvgNormAsMeasurement, getAvgNormAsMeasurement, getAvgTriad, getAvgTriad, getAvgX, getAvgXAsMeasurement, getAvgXAsMeasurement, getAvgY, getAvgYAsMeasurement, getAvgYAsMeasurement, getAvgZ, getAvgZAsMeasurement, getAvgZAsMeasurement, getLastTriad, getLastTriad, getListener, getNoiseRootPsdNorm, getNumberOfProcessedSamples, getPsdX, getPsdY, getPsdZ, getRootPsdX, getRootPsdY, getRootPsdZ, getStandardDeviationNorm, getStandardDeviationNormAsMeasurement, getStandardDeviationNormAsMeasurement, getStandardDeviationTriad, getStandardDeviationTriad, getStandardDeviationX, getStandardDeviationXAsMeasurement, getStandardDeviationXAsMeasurement, getStandardDeviationY, getStandardDeviationYAsMeasurement, getStandardDeviationYAsMeasurement, getStandardDeviationZ, getStandardDeviationZAsMeasurement, getStandardDeviationZAsMeasurement, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getVarianceX, getVarianceY, getVarianceZ, 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

AccumulatedMagneticFluxDensityTriadNoiseEstimator

public AccumulatedMagneticFluxDensityTriadNoiseEstimator()

Constructor.

AccumulatedMagneticFluxDensityTriadNoiseEstimator

public AccumulatedMagneticFluxDensityTriadNoiseEstimator(AccumulatedMagneticFluxDensityTriadNoiseEstimatorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this estimator.

Method Details

createTriad

protected MagneticFluxDensityTriad createTriad(double valueX,
 double valueY,
 double valueZ,
 com.irurueta.units.MagneticFluxDensityUnit unit)

Creates a triad with provided values and unit.

Specified by:

createTriad in class AccumulatedTriadNoiseEstimator<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,AccumulatedMagneticFluxDensityTriadNoiseEstimator,AccumulatedMagneticFluxDensityTriadNoiseEstimatorListener>

Parameters:

valueX - x coordinate value.

valueY - y coordinate value.

valueZ - z coordinate value.

unit - unit.

Returns:

created triad.

getDefaultUnit

protected com.irurueta.units.MagneticFluxDensityUnit getDefaultUnit()

Gets default unit for a measurement.

Specified by:

getDefaultUnit in class AccumulatedTriadNoiseEstimator<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,AccumulatedMagneticFluxDensityTriadNoiseEstimator,AccumulatedMagneticFluxDensityTriadNoiseEstimatorListener>

Returns:

default unit for a measurement.

createMeasurement

protected com.irurueta.units.MagneticFluxDensity createMeasurement(double value,
 com.irurueta.units.MagneticFluxDensityUnit unit)

Creates a measurement with provided value and unit.

Specified by:

createMeasurement in class AccumulatedTriadNoiseEstimator<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,AccumulatedMagneticFluxDensityTriadNoiseEstimator,AccumulatedMagneticFluxDensityTriadNoiseEstimatorListener>

Parameters:

value - value to be set.

unit - unit to be set.

Returns:

created measurement.

convertToDefaultUnit

protected double convertToDefaultUnit(double value,
 com.irurueta.units.MagneticFluxDensityUnit unit)

Converts provided value and unit into default unit.

Specified by:

convertToDefaultUnit in class AccumulatedTriadNoiseEstimator<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,AccumulatedMagneticFluxDensityTriadNoiseEstimator,AccumulatedMagneticFluxDensityTriadNoiseEstimatorListener>

Parameters:

value - measurement value to be converted.

unit - unit of measurement value to be converted.

Returns:

converted value.