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

Class WindowedMagneticFluxDensityTriadNoiseEstimator

java.lang.Object
com.irurueta.navigation.inertial.calibration.noise.WindowedTriadNoiseEstimator<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,WindowedMagneticFluxDensityTriadNoiseEstimator,WindowedMagneticFluxDensityTriadNoiseEstimatorListener>
com.irurueta.navigation.inertial.calibration.noise.WindowedMagneticFluxDensityTriadNoiseEstimator
public class WindowedMagneticFluxDensityTriadNoiseEstimator extends WindowedTriadNoiseEstimator<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,WindowedMagneticFluxDensityTriadNoiseEstimator,WindowedMagneticFluxDensityTriadNoiseEstimatorListener>
Estimates magnetometer noise variances and PSD's (Power Spectral Densities) along with the magnetometer average values for a windowed amount of samples. 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 magnetometer samples are obtained at a constant provided rate equal to WindowedTriadNoiseEstimator.getTimeInterval() second. 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 know, estimated average values cannot be used to determine biases. Only norm of noise estimations can be safely used. 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: - 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).