Package com.irurueta.navigation.inertial.estimators

Class NEDVelocityEstimator

java.lang.Object

com.irurueta.navigation.inertial.estimators.NEDVelocityEstimator

public class NEDVelocityEstimator
extends Object

Estimates velocity by differentiating latitude, longitude and height over a time interval. 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/Velocity_from_curvilinear.m

Constructor Summary

Constructors

Constructor	Description
NEDVelocityEstimator()

Method Summary

Modifier and Type	Method	Description
private static double	convertAngleToDouble(com.irurueta.units.Angle angle)	Converts provided angle instance to radians (rad).
private static double	convertDistanceToDouble(com.irurueta.units.Distance distance)	Converts provided distance instance to meters (m).
private static double	convertSpeedToDouble(com.irurueta.units.Speed speed)	Converts provided speed instance to meters per second (m/s).
private static double	convertTimeToDouble(com.irurueta.units.Time time)	Converts provided time instance to seconds (s).
void	estimate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDVelocity	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double latitude, double longitude, double height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimateVelocity(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDVelocity result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, double latitude, double longitude, double height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame oldFrame, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDVelocity	estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Angle longitude, com.irurueta.units.Distance height)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Methods inherited from class java.lang.Object

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

Constructor Details

NEDVelocityEstimator

public NEDVelocityEstimator()

Method Details

estimate

public void estimate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDVelocity estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double latitude,
 double longitude,
 double height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude.

longitude - current longitude.

height - current height.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocity

public static void estimateVelocity(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDVelocity result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

position - current body position with respect the Earth, resolved about north, east and down axes.

result - instance where updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s) will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 double latitude,
 double longitude,
 double height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude expressed in radians (rad).

longitude - current longitude expressed in radians (rad).

height - current height expressed in meters (m).

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Angle longitude,
 com.irurueta.units.Distance height)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

latitude - current latitude.

longitude - current longitude.

height - current height.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

estimateVelocityAndReturnNew

public static com.irurueta.navigation.frames.NEDVelocity estimateVelocityAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 com.irurueta.navigation.frames.NEDPosition position)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldFrame - previous frame containing position and velocity of body with respect Earth and resolved about north, east and down axes.

position - current body position with respect the Earth, resolved about north, east and down axes.

Returns:

estimated updated velocity with respect the Earth, resolved about north, east and down and expressed in meters per second (m/s).

Throws:

IllegalArgumentException - if provided time interval is negative or zero.

convertTimeToDouble

private static double convertTimeToDouble(com.irurueta.units.Time time)

Converts provided time instance to seconds (s).

Parameters:

time - time instance to be converted.

Returns:

provided time value expressed in seconds.

convertAngleToDouble

private static double convertAngleToDouble(com.irurueta.units.Angle angle)

Converts provided angle instance to radians (rad).

Parameters:

angle - angle instance to be converted.

Returns:

provided angle value expressed in radians.

convertDistanceToDouble

private static double convertDistanceToDouble(com.irurueta.units.Distance distance)

Converts provided distance instance to meters (m).

Parameters:

distance - distance instance to be converted.

Returns:

provided distance value expressed in meters.

convertSpeedToDouble

private static double convertSpeedToDouble(com.irurueta.units.Speed speed)

Converts provided speed instance to meters per second (m/s).

Parameters:

speed - speed instance to be converted.

Returns:

provided speed value expressed in meters per second.