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

Class AccumulatedTriadNoiseEstimator<U extends Enum<?>,M extends com.irurueta.units.Measurement<U>,T extends Triad<U,M>,E extends AccumulatedTriadNoiseEstimator<U,M,T,E,L>,L extends AccumulatedTriadNoiseEstimatorListener<U,M,T,E>>

java.lang.Object

com.irurueta.navigation.inertial.calibration.noise.AccumulatedTriadNoiseEstimator<U,M,T,E,L>

Type Parameters:

U - a measurement unit type.

M - a measurement type.

T - a triad type.

E - an estimator type.

L - a listener type.

Direct Known Subclasses:

AccumulatedAccelerationTriadNoiseEstimator, AccumulatedAngularSpeedTriadNoiseEstimator, AccumulatedMagneticFluxDensityTriadNoiseEstimator

public abstract class AccumulatedTriadNoiseEstimator<U extends Enum<?>,M extends com.irurueta.units.Measurement<U>,T extends Triad<U,M>,E extends AccumulatedTriadNoiseEstimator<U,M,T,E,L>,L extends AccumulatedTriadNoiseEstimatorListener<U,M,T,E>>
extends Object

Base class to estimate measurement noise variances and PSD's (Power Spectral Densities) along with their average values. Implementations of this estimator must be used when the body where the measurement device is attached to remains static on the same position with zero velocity, or with constant angular speed and orientation while capturing data. To compute PSD's, this estimator assumes that measurement samples are obtained at a constant provided rate equal to 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. 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. Notice that this estimator uses a biased variance estimator, which for a large number of samples converges to the unbiased variance estimator.

Field Summary

Fields

Modifier and Type	Field	Description
private double	avgX	Contains estimated average of x coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
private double	avgY	Contains estimated average of y coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
private double	avgZ	Contains estimated average of z coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
static final double	DEFAULT_TIME_INTERVAL_SECONDS	Default time interval between accelerometer samples expressed in seconds (s).
private T	lastTriad	Last provided triad.
private L	listener	Listener to handle events raised by this estimator.
private int	numberOfProcessedSamples	Number of processed body kinematics samples.
private int	numberOfProcessedSamplesPlusOne	Number of processed timestamp samples plus one.
private boolean	running	Indicates that estimator is running.
private double	timeInterval	Time interval expressed in seconds (s) between consecutive accelerometer samples.
private double	varianceX	Contains estimated variance of x coordinate of measurement expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).
private double	varianceY	Contains estimated variance of y coordinate of measurement expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).
private double	varianceZ	Contains estimated variance of x coordinate of measurement expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	AccumulatedTriadNoiseEstimator()	Constructor.
protected	AccumulatedTriadNoiseEstimator(L listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	addTriad(double valueX, double valueY, double valueZ)	Adds a triad of measurement samples.
void	addTriad(M valueX, M valueY, M valueZ)	Adds a triad of measurement samples.
void	addTriad(T triad)	Adds a triad of measurement samples.
protected abstract double	convertToDefaultUnit(double value, U unit)	Converts provided value and unit into default unit.
protected abstract M	createMeasurement(double value, U unit)	Creates a measurement with provided value and unit.
protected abstract T	createTriad(double valueX, double valueY, double valueZ, U unit)	Creates a triad with provided values and unit.
double	getAverageStandardDeviation()	Gets average of estimated standard deviation coordinates of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
M	getAverageStandardDeviationAsMeasurement()	Gets average of estimated standard deviation coordinates of measurement within current window.
void	getAverageStandardDeviationAsMeasurement(M result)	Gets average of estimated standard deviation coordinates of measurement.
double	getAvgNoisePsd()	Gets average measurement noise PSD (Power Spectral Density) among x,y,z components expressed as (m^2 * s^-3) for accelerometer, (rad^2/s) for gyroscope or (T^2 * s) for magnetometer.
double	getAvgNorm()	Gets norm of estimated average measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
M	getAvgNormAsMeasurement()	Gets norm of estimated average measurement within current window.
void	getAvgNormAsMeasurement(M result)	Gets norm of estimated average measurement within current window.
T	getAvgTriad()	Gets estimated average as a measurement triad.
void	getAvgTriad(T result)	Gets estimated average as a measurement triad.
double	getAvgX()	Gets estimated average of x coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
M	getAvgXAsMeasurement()	Gets estimated average of x coordinate of measurement within current window.
void	getAvgXAsMeasurement(M result)	Gets estimated average of x coordinate of measurement within current window.
double	getAvgY()	Gets estimated average of y coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
M	getAvgYAsMeasurement()	Gets estimated average of y coordinate of measurement within current window.
void	getAvgYAsMeasurement(M result)	Gets estimated average of y coordinate of measurement within current window.
double	getAvgZ()	Gets estimated average of z coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
M	getAvgZAsMeasurement()	Gets estimated average of z coordinate of measurement within current window.
void	getAvgZAsMeasurement(M result)	Gets estimated average of z coordinate of measurement within current window.
protected abstract U	getDefaultUnit()	Gets default unit for a measurement.
T	getLastTriad()	Gets last provided triad values or null if not available.
boolean	getLastTriad(T result)	Gets last provided triad values.
L	getListener()	Gets listener to handle events raised by this estimator.
double	getNoiseRootPsdNorm()	Gets norm of noise root PSD (Power Spectral Density) among x,y,z components expressed as (m * s^-1.5) for accelerometer, (rad * s^-0.5) for gyroscope or (T * s^0.5) for magnetometer.
int	getNumberOfProcessedSamples()	Gets number of samples that have been processed so far.
double	getPsdX()	Gets measurement noise PSD (Power Spectral Density) on x axis expressed in (m^2 * s^-3) for accelerometer, (rad^2/s) for gyroscope or (T^2 * s) for magnetometer.
double	getPsdY()	Gets measurement noise PSD (Power Spectral Density) on y axis expressed in (m^2 * s^-3) for accelerometer, (rad^2/s) for gyroscope or (T^2 * s) for magnetometer.
double	getPsdZ()	Gets measurement noise PSD (Power Spectral Density) on z axis expressed in (m^2 * s^-3) for accelerometer, (rad^2/s) for gyroscope or (T^2 * s) for magnetometer.
double	getRootPsdX()	Gets measurement noise root PSD (Power Spectral Density) on x axis expressed in (m * s^-1.5) for accelerometer, (rad * s^-0.5) for gyroscope or (T * s^0.5) for magnetometer.
double	getRootPsdY()	Gets measurement noise root PSD (Power Spectral Density) on y axis expressed in (m * s^-1.5) for accelerometer, (rad * s^-0.5) for gyroscope or (T * s^0.5) for magnetometer.
double	getRootPsdZ()	Gets measurement noise root PSD (Power Spectral Density) on z axis expressed in (m * s^-1.5) for accelerometer, (rad * s^-0.5) for gyroscope or (T * s^0.5) for magnetometer.
double	getStandardDeviationNorm()	Gets norm of estimated standard deviation of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
M	getStandardDeviationNormAsMeasurement()	Gets norm of estimated standard deviation of measurements.
void	getStandardDeviationNormAsMeasurement(M result)	Gets norm of estimated standard deviation of measurement within current window.
T	getStandardDeviationTriad()	Gets estimated standard deviation of measurements.
void	getStandardDeviationTriad(T result)	Gets estimated standard deviation of measurement within current window.
double	getStandardDeviationX()	Gets estimated standard deviation of x coordinate of measurement within current window and expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
M	getStandardDeviationXAsMeasurement()	Gets estimated standard deviation of x coordinate of measurement within current window.
void	getStandardDeviationXAsMeasurement(M result)	Gets estimated standard deviation of x coordinate of measurement within current window.
double	getStandardDeviationY()	Gets estimated standard deviation of y coordinate of measurement within current window and expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
M	getStandardDeviationYAsMeasurement()	Gets estimated standard deviation of y coordinate of measurement within current window.
void	getStandardDeviationYAsMeasurement(M result)	Gets estimated standard deviation of y coordinate of measurement within current window.
double	getStandardDeviationZ()	Gets estimated standard deviation of z coordinate of measurement within current window and expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).
M	getStandardDeviationZAsMeasurement()	Gets estimated standard deviation of z coordinate of measurement within current window.
void	getStandardDeviationZAsMeasurement(M result)	Gets estimated standard deviation of z coordinate of measurement within current window.
double	getTimeInterval()	Gets time interval between triad samples expressed in seconds (s).
com.irurueta.units.Time	getTimeIntervalAsTime()	Gets time interval between triad samples.
void	getTimeIntervalAsTime(com.irurueta.units.Time result)	Gets time interval between triad samples.
double	getVarianceX()	Gets estimated variance of x coordinate of measurement within current window expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).
double	getVarianceY()	Gets estimated variance of y coordinate of measurement within current window expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).
double	getVarianceZ()	Gets estimated variance of z coordinate of measurement within current window expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).
boolean	isRunning()	Indicates whether estimator is currently running or not.
boolean	reset()	Resets current estimator.
void	setListener(L listener)	Sets listener to handle events raised by this estimator.
void	setTimeInterval(double timeInterval)	Sets time interval between triad samples expressed in seconds (s).
void	setTimeInterval(com.irurueta.units.Time timeInterval)	Sets time interval between triad samples.

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_TIME_INTERVAL_SECONDS

public static final double DEFAULT_TIME_INTERVAL_SECONDS

Default time interval between accelerometer samples expressed in seconds (s).

See Also:

• Constant Field Values

timeInterval

private double timeInterval

Time interval expressed in seconds (s) between consecutive accelerometer samples.

listener

private L extends AccumulatedTriadNoiseEstimatorListener<U,M,T,E> listener

Listener to handle events raised by this estimator.

lastTriad

private T extends Triad<U,M> lastTriad

Last provided triad.

avgX

private double avgX

Contains estimated average of x coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).

avgY

private double avgY

Contains estimated average of y coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).

avgZ

private double avgZ

Contains estimated average of z coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).

varianceX

private double varianceX

Contains estimated variance of x coordinate of measurement expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).

varianceY

private double varianceY

Contains estimated variance of y coordinate of measurement expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).

varianceZ

private double varianceZ

Contains estimated variance of x coordinate of measurement expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).

numberOfProcessedSamples

private int numberOfProcessedSamples

Number of processed body kinematics samples.

numberOfProcessedSamplesPlusOne

private int numberOfProcessedSamplesPlusOne

Number of processed timestamp samples plus one.

running

private boolean running

Indicates that estimator is running.

Constructor Details

AccumulatedTriadNoiseEstimator

protected AccumulatedTriadNoiseEstimator()

Constructor.

AccumulatedTriadNoiseEstimator

protected AccumulatedTriadNoiseEstimator(L listener)

Constructor.

Parameters:

listener - listener to handle events raised by this estimator.

Method Details

getTimeInterval

public double getTimeInterval()

Gets time interval between triad samples expressed in seconds (s).

Returns:

time interval between accelerometer triad samples.

setTimeInterval

public void setTimeInterval(double timeInterval)
                     throws com.irurueta.navigation.LockedException

Sets time interval between triad samples expressed in seconds (s).

Parameters:

timeInterval - time interval between triad samples.

Throws:

IllegalArgumentException - if provided value is negative.

com.irurueta.navigation.LockedException - if estimator is currently running.

getTimeIntervalAsTime

public com.irurueta.units.Time getTimeIntervalAsTime()

Gets time interval between triad samples.

Returns:

time interval between triad samples.

getTimeIntervalAsTime

public void getTimeIntervalAsTime(com.irurueta.units.Time result)

Gets time interval between triad samples.

Parameters:

result - instance where time interval will be stored.

setTimeInterval

public void setTimeInterval(com.irurueta.units.Time timeInterval)
                     throws com.irurueta.navigation.LockedException

Sets time interval between triad samples.

Parameters:

timeInterval - time interval between triad samples.

Throws:

com.irurueta.navigation.LockedException - if estimator is currently running.

getListener

public L getListener()

Gets listener to handle events raised by this estimator.

Returns:

listener to handle events raised by this estimator.

setListener

public void setListener(L 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 this estimator is running.

getLastTriad

public T getLastTriad()

Gets last provided triad values or null if not available.

Returns:

last provided triad values or null.

getLastTriad

public boolean getLastTriad(T result)

Gets last provided triad values.

Parameters:

result - instance where last provided triad will be stored.

Returns:

true if result instance was updated, false otherwise.

getAvgX

public double getAvgX()

Gets estimated average of x coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density). This value will depend of body location and orientation, hence it should never be used as a calibration bias.

Returns:

average of x coordinate of measurement in current window.

getAvgXAsMeasurement

public M getAvgXAsMeasurement()

Gets estimated average of x coordinate of measurement within current window. This value will depend of body location and orientation, hence it should never be used as a calibration bias.

Returns:

average of x coordinate of measurement in current window.

getAvgXAsMeasurement

public void getAvgXAsMeasurement(M result)

Gets estimated average of x coordinate of measurement within current window. This value will depend of body location and orientation, hence it should never be used as a calibration bias.

Parameters:

result - instance where average of x coordinate of measurement will be stored.

getAvgY

public double getAvgY()

Gets estimated average of y coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density). This value will depend of body location and orientation, hence it should never be used as a calibration bias.

Returns:

average of y coordinate of measurement in current window.

getAvgYAsMeasurement

public M getAvgYAsMeasurement()

Gets estimated average of y coordinate of measurement within current window. This value will depend of body location and orientation, hence it should never be used as a calibration bias.

Returns:

average of y coordinate of measurement in current window.

getAvgYAsMeasurement

public void getAvgYAsMeasurement(M result)

Gets estimated average of y coordinate of measurement within current window. This value will depend of body location and orientation, hence it should never be used as a calibration bias.

Parameters:

result - instance where average of y coordinate of measurement will be stored.

getAvgZ

public double getAvgZ()

Gets estimated average of z coordinate of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density). This value will depend of body location and orientation, hence it should never be used as a calibration bias.

Returns:

average of z coordinate of measurement in current window.

getAvgZAsMeasurement

public M getAvgZAsMeasurement()

Gets estimated average of z coordinate of measurement within current window. This value will depend of body location and orientation, hence it should never be used as a calibration bias.

Returns:

average of z coordinate of measurement in current window.

getAvgZAsMeasurement

public void getAvgZAsMeasurement(M result)

Gets estimated average of z coordinate of measurement within current window. This value will depend of body location and orientation, hence it should never be used as a calibration bias.

Parameters:

result - instance where average of z coordinate of measurement will be stored.

getAvgTriad

public T getAvgTriad()

Gets estimated average as a measurement triad.

Returns:

average measurement triad.

getAvgTriad

public void getAvgTriad(T result)

Gets estimated average as a measurement triad.

Parameters:

result - instance where average values and unit will be stored.

getAvgNorm

public double getAvgNorm()

Gets norm of estimated average measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density). This value is independent of body orientation.

Returns:

norm of estimated average specific force.

getAvgNormAsMeasurement

public M getAvgNormAsMeasurement()

Gets norm of estimated average measurement within current window.

Returns:

norm of estimated average measurement.

getAvgNormAsMeasurement

public void getAvgNormAsMeasurement(M result)

Gets norm of estimated average measurement within current window.

Parameters:

result - instance where norm of estimated average measurement will be stored.

getVarianceX

public double getVarianceX()

Gets estimated variance of x coordinate of measurement within current window expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).

Returns:

estimated variance of x coordinate of measurement within current window.

getVarianceY

public double getVarianceY()

Gets estimated variance of y coordinate of measurement within current window expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).

Returns:

estimated variance of y coordinate of measurement within current window.

getVarianceZ

public double getVarianceZ()

Gets estimated variance of z coordinate of measurement within current window expressed in its default squared unit (m^2/s^4 for acceleration, rad^2/s^2 for angular speed or T^2 for magnetic flux density).

Returns:

estimated variance of z coordinate of measurement within current window.

getStandardDeviationX

public double getStandardDeviationX()

Gets estimated standard deviation of x coordinate of measurement within current window and expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).

Returns:

estimated standard deviation of x coordinate of measurement within current window.

getStandardDeviationXAsMeasurement

public M getStandardDeviationXAsMeasurement()

Gets estimated standard deviation of x coordinate of measurement within current window.

Returns:

estimated standard deviation of x coordinate of measurement.

getStandardDeviationXAsMeasurement

public void getStandardDeviationXAsMeasurement(M result)

Gets estimated standard deviation of x coordinate of measurement within current window.

Parameters:

result - instance where estimated standard deviation of x coordinate of measurement will be stored.

getStandardDeviationY

public double getStandardDeviationY()

Gets estimated standard deviation of y coordinate of measurement within current window and expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).

Returns:

estimated standard deviation of y coordinate of measurement within current window.

getStandardDeviationYAsMeasurement

public M getStandardDeviationYAsMeasurement()

Gets estimated standard deviation of y coordinate of measurement within current window.

Returns:

estimated standard deviation of y coordinate of measurement.

getStandardDeviationYAsMeasurement

public void getStandardDeviationYAsMeasurement(M result)

Gets estimated standard deviation of y coordinate of measurement within current window.

Parameters:

result - instance where estimated standard deviation of y coordinate of measurement will be stored.

getStandardDeviationZ

public double getStandardDeviationZ()

Gets estimated standard deviation of z coordinate of measurement within current window and expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).

Returns:

estimated standard deviation of z coordinate of measurement within current window.

getStandardDeviationZAsMeasurement

public M getStandardDeviationZAsMeasurement()

Gets estimated standard deviation of z coordinate of measurement within current window.

Returns:

estimated standard deviation of z coordinate of measurement.

getStandardDeviationZAsMeasurement

public void getStandardDeviationZAsMeasurement(M result)

Gets estimated standard deviation of z coordinate of measurement within current window.

Parameters:

result - instance where estimated standard deviation of z coordinate of measurement will be stored.

getStandardDeviationTriad

public T getStandardDeviationTriad()

Gets estimated standard deviation of measurements.

Returns:

estimated standard deviation triad of measurements.

getStandardDeviationTriad

public void getStandardDeviationTriad(T result)

Gets estimated standard deviation of measurement within current window.

Parameters:

result - instance where estimated standard deviation triad of measurement will be stored.

getStandardDeviationNorm

public double getStandardDeviationNorm()

Gets norm of estimated standard deviation of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).

Returns:

norm of estimated standard deviation of measurement.

getStandardDeviationNormAsMeasurement

public M getStandardDeviationNormAsMeasurement()

Gets norm of estimated standard deviation of measurements.

Returns:

norm of estimated standard deviation of measurement.

getStandardDeviationNormAsMeasurement

public void getStandardDeviationNormAsMeasurement(M result)

Gets norm of estimated standard deviation of measurement within current window.

Parameters:

result - instance where norm of estimated standard deviation will be stored.

getAverageStandardDeviation

public double getAverageStandardDeviation()

Gets average of estimated standard deviation coordinates of measurement expressed in its default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).

Returns:

average of estimated standard deviation coordinates.

getAverageStandardDeviationAsMeasurement

public M getAverageStandardDeviationAsMeasurement()

Gets average of estimated standard deviation coordinates of measurement within current window.

Returns:

average of estimated standard deviation coordinates.

getAverageStandardDeviationAsMeasurement

public void getAverageStandardDeviationAsMeasurement(M result)

Gets average of estimated standard deviation coordinates of measurement.

Parameters:

result - instance where average of estimated standard deviation coordinates will be stored.

getPsdX

public double getPsdX()

Gets measurement noise PSD (Power Spectral Density) on x axis expressed in (m^2 * s^-3) for accelerometer, (rad^2/s) for gyroscope or (T^2 * s) for magnetometer.

Returns:

measurement noise PSD on x axis.

getPsdY

public double getPsdY()

Gets measurement noise PSD (Power Spectral Density) on y axis expressed in (m^2 * s^-3) for accelerometer, (rad^2/s) for gyroscope or (T^2 * s) for magnetometer.

Returns:

measurement noise PSD on y axis.

getPsdZ

public double getPsdZ()

Gets measurement noise PSD (Power Spectral Density) on z axis expressed in (m^2 * s^-3) for accelerometer, (rad^2/s) for gyroscope or (T^2 * s) for magnetometer.

Returns:

measurement noise PSD on z axis.

getRootPsdX

public double getRootPsdX()

Gets measurement noise root PSD (Power Spectral Density) on x axis expressed in (m * s^-1.5) for accelerometer, (rad * s^-0.5) for gyroscope or (T * s^0.5) for magnetometer.

Returns:

measurement noise root PSD on x axis.

getRootPsdY

public double getRootPsdY()

Gets measurement noise root PSD (Power Spectral Density) on y axis expressed in (m * s^-1.5) for accelerometer, (rad * s^-0.5) for gyroscope or (T * s^0.5) for magnetometer.

Returns:

measurement noise root PSD on y axis.

getRootPsdZ

public double getRootPsdZ()

Gets measurement noise root PSD (Power Spectral Density) on z axis expressed in (m * s^-1.5) for accelerometer, (rad * s^-0.5) for gyroscope or (T * s^0.5) for magnetometer.

Returns:

measurement noise root PSD on z axis.

getAvgNoisePsd

public double getAvgNoisePsd()

Gets average measurement noise PSD (Power Spectral Density) among x,y,z components expressed as (m^2 * s^-3) for accelerometer, (rad^2/s) for gyroscope or (T^2 * s) for magnetometer.

Returns:

average measurement noise PSD.

getNoiseRootPsdNorm

public double getNoiseRootPsdNorm()

Gets norm of noise root PSD (Power Spectral Density) among x,y,z components expressed as (m * s^-1.5) for accelerometer, (rad * s^-0.5) for gyroscope or (T * s^0.5) for magnetometer.

Returns:

norm of measurement noise root PSD.

getNumberOfProcessedSamples

public int getNumberOfProcessedSamples()

Gets number of samples that have been processed so far.

Returns:

number of samples that have been processed so far.

isRunning

public boolean isRunning()

Indicates whether estimator is currently running or not.

Returns:

true if estimator is running, false otherwise.

addTriad

public void addTriad(double valueX,
 double valueY,
 double valueZ)
              throws com.irurueta.navigation.LockedException

Adds a triad of measurement samples. Values are expressed in measurement default unit (m/s^2 for acceleration, rad/s for angular speed or T for magnetic flux density).

Parameters:

valueX - x coordinate of measurement to be added and processed.

valueY - y coordinate of measurement to be added and processed.

valueZ - z coordinate of measurement to be added and processed.

Throws:

com.irurueta.navigation.LockedException - if estimator is currently running.

addTriad

public void addTriad(T triad)
              throws com.irurueta.navigation.LockedException

Adds a triad of measurement samples.

Parameters:

triad - measurement triad to be added and processed.

Throws:

com.irurueta.navigation.LockedException - if estimator is currently running.

addTriad

public void addTriad(M valueX,
 M valueY,
 M valueZ)
              throws com.irurueta.navigation.LockedException

Adds a triad of measurement samples.

Parameters:

valueX - x coordinate of measurement to be added and processed.

valueY - y coordinate of measurement to be added and processed.

valueZ - z coordinate of measurement to be added and processed.

Throws:

com.irurueta.navigation.LockedException - if estimator is currently running.

reset

public boolean reset()
              throws com.irurueta.navigation.LockedException

Resets current estimator.

Returns:

true if estimator was successfully reset, false if no reset was needed.

Throws:

com.irurueta.navigation.LockedException - if estimator is currently running.

createTriad

protected abstract T createTriad(double valueX,
 double valueY,
 double valueZ,
 U unit)

Creates a triad with provided values and unit.

Parameters:

valueX - x coordinate value.

valueY - y coordinate value.

valueZ - z coordinate value.

unit - unit.

Returns:

created triad.

getDefaultUnit

protected abstract U getDefaultUnit()

Gets default unit for a measurement.

Returns:

default unit for a measurement.

createMeasurement

protected abstract M createMeasurement(double value,
 U unit)

Creates a measurement with provided value and unit.

Parameters:

value - value to be set.

unit - unit to be set.

Returns:

created measurement.

convertToDefaultUnit

protected abstract double convertToDefaultUnit(double value,
 U unit)

Converts provided value and unit into default unit.

Parameters:

value - measurement value to be converted.

unit - unit of measurement value to be converted.

Returns:

converted value.