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

Class WindowedAccelerationMeasurementNoiseEstimator

java.lang.Object

com.irurueta.navigation.inertial.calibration.noise.WindowedMeasurementNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,WindowedAccelerationMeasurementNoiseEstimator,WindowedAccelerationMeasurementNoiseEstimatorListener>

com.irurueta.navigation.inertial.calibration.noise.WindowedAccelerationMeasurementNoiseEstimator

All Implemented Interfaces:

AccelerometerNoiseRootPsdSource

public class WindowedAccelerationMeasurementNoiseEstimator
extends WindowedMeasurementNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,WindowedAccelerationMeasurementNoiseEstimator,WindowedAccelerationMeasurementNoiseEstimatorListener>
implements AccelerometerNoiseRootPsdSource

Estimates acceleration noise variances and PSD's (Power Spectral Density) along with acceleration average value for a windowed amount of samples. 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 accelerometer samples are obtained at a constant provided rate equal to WindowedMeasurementNoiseEstimator.getTimeInterval() seconds. If not available, accelerometer sampling rate average can be estimated using TimeIntervalEstimator. Notice that if there are less than WindowedMeasurementNoiseEstimator.getWindowSize() processed samples in the window, this estimator will assume that the remaining ones until the window is completed have zero values. 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 acceleration PSD (Power Spectral Density). - (m * s^-1.5) for acceleration root PSD (Power Spectral Density).

Field Summary

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

DEFAULT_TIME_INTERVAL_SECONDS, DEFAULT_WINDOW_SIZE, MIN_WINDOW_SIZE

Constructor Summary

Constructors

Constructor	Description
WindowedAccelerationMeasurementNoiseEstimator()	Constructor.
WindowedAccelerationMeasurementNoiseEstimator(WindowedAccelerationMeasurementNoiseEstimatorListener 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.WindowedMeasurementNoiseEstimator

addMeasurement, addMeasurement, addMeasurementAndProcess, addMeasurementAndProcess, getAvg, getAvgAsMeasurement, getAvgAsMeasurement, getFirstWindowedMeasurement, getFirstWindowedMeasurement, getFirstWindowedMeasurementValue, getLastWindowedMeasurement, getLastWindowedMeasurement, getLastWindowedMeasurementValue, getListener, getNumberOfAddedSamples, getNumberOfProcessedSamples, getNumberOfSamplesInWindow, getPsd, getRootPsd, getStandardDeviation, getStandardDeviationAsMeasurement, getStandardDeviationAsMeasurement, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getVariance, getWindowSize, isRunning, isWindowFilled, reset, setListener, setTimeInterval, setTimeInterval, setWindowSize

Methods inherited from class java.lang.Object

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

Constructor Details

WindowedAccelerationMeasurementNoiseEstimator

public WindowedAccelerationMeasurementNoiseEstimator()

Constructor.

WindowedAccelerationMeasurementNoiseEstimator

public WindowedAccelerationMeasurementNoiseEstimator(WindowedAccelerationMeasurementNoiseEstimatorListener 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 WindowedMeasurementNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,WindowedAccelerationMeasurementNoiseEstimator,WindowedAccelerationMeasurementNoiseEstimatorListener>

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 WindowedMeasurementNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,WindowedAccelerationMeasurementNoiseEstimator,WindowedAccelerationMeasurementNoiseEstimatorListener>

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 WindowedMeasurementNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,WindowedAccelerationMeasurementNoiseEstimator,WindowedAccelerationMeasurementNoiseEstimatorListener>

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.