Package com.irurueta.navigation.inertial.estimators

Class ECEFKinematicsEstimator

java.lang.Object

com.irurueta.navigation.inertial.estimators.ECEFKinematicsEstimator

public class ECEFKinematicsEstimator
extends Object

Estimates body kinematics (specific force applied to a body and its angular rates) with respect and resolved along ECEF-frame axes. This implementation is based on the equations defined in "Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition" and on the companion software available at: https://github.com/ymjdz/MATLAB-Codes/blob/master/Kinematics_ECEF.m

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ALPHA_THRESHOLD	Alpha threshold.
static final double	EARTH_ROTATION_RATE	Earth rotation rate expressed in radians per second (rad/s).
private static final int	ROWS	Number of rows.
private static final double	SCALING_THRESHOLD	Scaling threshold.

Constructor Summary

Constructors

Constructor	Description
ECEFKinematicsEstimator()

Method Summary

Modifier and Type	Method	Description
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates)..
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates)..
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates)..
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)	Estimates body kinematics (specific force applied to a body and its angular rates).
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates)..
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates)..
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.navigation.frames.ECEFPosition position, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates)..
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates)..
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity velocity, com.irurueta.navigation.frames.ECEFVelocity oldVelocity, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.navigation.frames.ECEFPosition position)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.ECEFVelocity oldVelocity)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)	Estimates body kinematics (specific force applied to a body and its angular rates).
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates).

Methods inherited from class java.lang.Object

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

Field Details

EARTH_ROTATION_RATE

public static final double EARTH_ROTATION_RATE

Earth rotation rate expressed in radians per second (rad/s).

See Also:

• Constant Field Values

SCALING_THRESHOLD

private static final double SCALING_THRESHOLD

Scaling threshold.

See Also:

• Constant Field Values

ALPHA_THRESHOLD

private static final double ALPHA_THRESHOLD

Alpha threshold.

See Also:

• Constant Field Values

ROWS

private static final int ROWS

Number of rows.

See Also:

• Constant Field Values

Constructor Details

ECEFKinematicsEstimator

public ECEFKinematicsEstimator()

Method Details

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates)..

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF-frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF-frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVx,
 double oldVy,
 double oldVz,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVx,
 double oldVy,
 double oldVz,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVelocity - previous velocity of body frame with respect ECEF frame.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVelocity - previous velocity of body frame with respect ECEF frame.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldFrame - body ECEF frame containing previous position, velocity and body-to-ECEF frame coordinate transformation. Notice that previous position contained in this frame is ignored.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldFrame - body ECEF frame containing previous position, velocity and body-to-ECEF frame coordinate transformation. Notice that previous position contained in this frame is ignored.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates)..

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF-frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates)..

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF-frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVx,
 double oldVy,
 double oldVz)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVx,
 double oldVy,
 double oldVz)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVelocity - previous velocity of body frame with respect ECEF frame.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVelocity - previous velocity of body frame with respect ECEF frame.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldFrame - body ECEF frame containing previous position, velocity and body-to-ECEF frame coordinate transformation. Notice that previous position contained in this frame is ignored.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldFrame - body ECEF frame containing previous position, velocity and body-to-ECEF frame coordinate transformation. Notice that previous position contained in this frame is ignored.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates)..

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF-frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECEF-frame axes.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates)..

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF-frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF-frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVx,
 double oldVy,
 double oldVz,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVx,
 double oldVy,
 double oldVz,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVelocity - previous velocity of body frame with respect ECEF frame.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVelocity - previous velocity of body frame with respect ECEF frame.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldFrame - body ECEF frame containing previous position, velocity and body-to-ECEF frame coordinate transformation. Notice that previous position contained in this frame is ignored.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldFrame - body ECEF frame containing previous position, velocity and body-to-ECEF frame coordinate transformation. Notice that previous position contained in this frame is ignored.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 double x,
 double y,
 double z,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.navigation.frames.ECEFPosition position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.geometry.Point3D position,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

result - instance where body kinematics estimation will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates)..

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF-frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates)..

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF-frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVx,
 double oldVy,
 double oldVz)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVx,
 double oldVy,
 double oldVz)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVelocity - previous velocity of body frame with respect ECEF frame.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVelocity - previous velocity of body frame with respect ECEF frame.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldFrame - body ECEF frame containing previous position, velocity and body-to-ECEF frame coordinate transformation. Notice that previous position contained in this frame is ignored.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldFrame - body ECEF frame containing previous position, velocity and body-to-ECEF frame coordinate transformation. Notice that previous position contained in this frame is ignored.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 double x,
 double y,
 double z)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.navigation.frames.ECEFPosition position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - cartesian body position resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

frame - body ECEF frame containing current position, velocity and body-to-ECEF frame coordinate transformation.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes and expressed in meters per second (m/s).

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.ECEFVelocity velocity,
 com.irurueta.navigation.frames.ECEFVelocity oldVelocity,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - body-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

velocity - velocity of body frame with respect ECEF frame.

oldVelocity - previous velocity of body frame with respect ECEF frame.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vx,
 com.irurueta.units.Speed vy,
 com.irurueta.units.Speed vz,
 com.irurueta.units.Speed oldVx,
 com.irurueta.units.Speed oldVy,
 com.irurueta.units.Speed oldVz,
 com.irurueta.geometry.Point3D position)

Estimates body kinematics (specific force applied to a body and its angular rates).

Parameters:

timeInterval - time interval between epochs.

c - boy-to-ECEF frame coordinate transformation matrix.

oldC - previous body-to-ECEF-frame coordinate transformation matrix.

vx - velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vy - velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

vz - velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVx - previous velocity of body frame x coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVy - previous velocity of body frame y coordinate with respect ECEF frame, resolved along ECEF-frame axes.

oldVz - previous velocity of body frame z coordinate with respect ECEF frame, resolved along ECEF-frame axes.

position - body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinated transformation matrices are not ECEF frame valid.