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

Class WindowedAngularSpeedTriadNoiseEstimator

java.lang.Object

com.irurueta.navigation.inertial.calibration.noise.WindowedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,WindowedAngularSpeedTriadNoiseEstimator,WindowedAngularSpeedTriadNoiseEstimatorListener>

com.irurueta.navigation.inertial.calibration.noise.WindowedAngularSpeedTriadNoiseEstimator

All Implemented Interfaces:

GyroscopeNoiseRootPsdSource

public class WindowedAngularSpeedTriadNoiseEstimator
extends WindowedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,WindowedAngularSpeedTriadNoiseEstimator,WindowedAngularSpeedTriadNoiseEstimatorListener>
implements GyroscopeNoiseRootPsdSource

Estimates angular speed noise variances and PSD's (Power Spectral Densities) along with the gyroscope average values for a windowed amount of samples. This estimator must be used when the body where the gyroscope is attached remains static on the same position with zero velocity while capturing data. To compute PSD's, this estimator assumes that gyroscope samples are obtained at a constant provided rate equal to WindowedTriadNoiseEstimator.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 can be safely used as an indication of variation of overall rotation rate (which is indicated by norm of estimated average). Notice that if there are less than WindowedTriadNoiseEstimator.getWindowSize() processed samples in the window, this estimator will assume that the remaining ones until the window is completed have zero values. 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.WindowedTriadNoiseEstimator

DEFAULT_TIME_INTERVAL_SECONDS, DEFAULT_WINDOW_SIZE, MIN_WINDOW_SIZE

Constructor Summary

Constructors

Constructor	Description
WindowedAngularSpeedTriadNoiseEstimator()	Constructor.
WindowedAngularSpeedTriadNoiseEstimator(WindowedAngularSpeedTriadNoiseEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected AngularSpeedTriad	copyTriad(AngularSpeedTriad input)	Creates a copy of a triad.
protected com.irurueta.units.AngularSpeed	createMeasurement(double value, com.irurueta.units.AngularSpeedUnit unit)	Creates a measurement with provided value and unit.
protected AngularSpeedTriad	createTriad(double valueX, double valueY, double valueZ, com.irurueta.units.AngularSpeedUnit unit)	Creates a triad with provided values and unit.
protected AngularSpeedTriad	createTriad(com.irurueta.units.AngularSpeed valueX, com.irurueta.units.AngularSpeed valueY, com.irurueta.units.AngularSpeed valueZ)	Creates a triad with provided values.
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.WindowedTriadNoiseEstimator

addTriad, addTriad, addTriad, addTriadAndProcess, addTriadAndProcess, addTriadAndProcess, getAverageStandardDeviation, getAverageStandardDeviationAsMeasurement, getAverageStandardDeviationAsMeasurement, getAvgNoisePsd, getAvgNorm, getAvgNormAsMeasurement, getAvgNormAsMeasurement, getAvgTriad, getAvgTriad, getAvgX, getAvgXAsMeasurement, getAvgXAsMeasurement, getAvgY, getAvgYAsMeasurement, getAvgYAsMeasurement, getAvgZ, getAvgZAsMeasurement, getAvgZAsMeasurement, getFirstWindowedTriad, getFirstWindowedTriad, getLastWindowedTriad, getLastWindowedTriad, getListener, getNoiseRootPsdNorm, getNumberOfProcessedSamples, getNumberOfSamplesInWindow, 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, 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

WindowedAngularSpeedTriadNoiseEstimator

public WindowedAngularSpeedTriadNoiseEstimator()

Constructor.

WindowedAngularSpeedTriadNoiseEstimator

public WindowedAngularSpeedTriadNoiseEstimator(WindowedAngularSpeedTriadNoiseEstimatorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this estimator.

Method Details

copyTriad

protected AngularSpeedTriad copyTriad(AngularSpeedTriad input)

Creates a copy of a triad.

Specified by:

copyTriad in class WindowedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,WindowedAngularSpeedTriadNoiseEstimator,WindowedAngularSpeedTriadNoiseEstimatorListener>

Parameters:

input - triad to be copied.

Returns:

copy of a triad.

createTriad

protected AngularSpeedTriad createTriad(double valueX,
 double valueY,
 double valueZ,
 com.irurueta.units.AngularSpeedUnit unit)

Creates a triad with provided values and unit.

Specified by:

createTriad in class WindowedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,WindowedAngularSpeedTriadNoiseEstimator,WindowedAngularSpeedTriadNoiseEstimatorListener>

Parameters:

valueX - x coordinate value.

valueY - y coordinate value.

valueZ - z coordinate value.

unit - unit.

Returns:

created triad.

createTriad

protected AngularSpeedTriad createTriad(com.irurueta.units.AngularSpeed valueX,
 com.irurueta.units.AngularSpeed valueY,
 com.irurueta.units.AngularSpeed valueZ)

Creates a triad with provided values.

Specified by:

createTriad in class WindowedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,WindowedAngularSpeedTriadNoiseEstimator,WindowedAngularSpeedTriadNoiseEstimatorListener>

Parameters:

valueX - x coordinate value.

valueY - y coordinate value.

valueZ - z coordinate value.

Returns:

created triad.

getDefaultUnit

protected com.irurueta.units.AngularSpeedUnit getDefaultUnit()

Gets default unit for a measurement.

Specified by:

getDefaultUnit in class WindowedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,WindowedAngularSpeedTriadNoiseEstimator,WindowedAngularSpeedTriadNoiseEstimatorListener>

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 WindowedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,WindowedAngularSpeedTriadNoiseEstimator,WindowedAngularSpeedTriadNoiseEstimatorListener>

Parameters:

value - value to be set.

unit - unit to be set.

Returns:

created measurement.

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.