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

Class WindowedAngularSpeedMeasurementNoiseEstimator

java.lang.Object

com.irurueta.navigation.inertial.calibration.noise.WindowedMeasurementNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,WindowedAngularSpeedMeasurementNoiseEstimator,WindowedAngularSpeedMeasurementNoiseEstimatorListener>

com.irurueta.navigation.inertial.calibration.noise.WindowedAngularSpeedMeasurementNoiseEstimator

All Implemented Interfaces:

GyroscopeNoiseRootPsdSource

public class WindowedAngularSpeedMeasurementNoiseEstimator
extends WindowedMeasurementNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,WindowedAngularSpeedMeasurementNoiseEstimator,WindowedAngularSpeedMeasurementNoiseEstimatorListener>
implements GyroscopeNoiseRootPsdSource

Estimates measurement noise variances and PSD's (Power Spectral Density) along with angular speed average value for a windowed amount of samples. 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 gyroscope samples are obtained at a constant provided rate equal to WindowedMeasurementNoiseEstimator.getTimeInterval() seconds. If not available, gyroscope 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: - 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.WindowedMeasurementNoiseEstimator

DEFAULT_TIME_INTERVAL_SECONDS, DEFAULT_WINDOW_SIZE, MIN_WINDOW_SIZE

Constructor Summary

Constructors

Constructor	Description
WindowedAngularSpeedMeasurementNoiseEstimator()	Constructor.
WindowedAngularSpeedMeasurementNoiseEstimator(WindowedAngularSpeedMeasurementNoiseEstimatorListener 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.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

WindowedAngularSpeedMeasurementNoiseEstimator

public WindowedAngularSpeedMeasurementNoiseEstimator()

Constructor.

WindowedAngularSpeedMeasurementNoiseEstimator

public WindowedAngularSpeedMeasurementNoiseEstimator(WindowedAngularSpeedMeasurementNoiseEstimatorListener 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 WindowedMeasurementNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,WindowedAngularSpeedMeasurementNoiseEstimator,WindowedAngularSpeedMeasurementNoiseEstimatorListener>

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 WindowedMeasurementNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,WindowedAngularSpeedMeasurementNoiseEstimator,WindowedAngularSpeedMeasurementNoiseEstimatorListener>

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 WindowedMeasurementNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,WindowedAngularSpeedMeasurementNoiseEstimator,WindowedAngularSpeedMeasurementNoiseEstimatorListener>

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.