Serialized Form

  • Package com.irurueta.navigation.inertial

    • Class com.irurueta.navigation.inertial.BodyKinematics

      class BodyKinematics extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • angularRateX
          double angularRateX
          Angular rate of body frame with respect ECI, ECEF or NED frame, resolved about body-frame x-axis, averaged over time interval and expressed in radians per second (rad/s).
        • angularRateY
          double angularRateY
          Angular rate of body frame with respect ECI, ECEF or NED frame, resolved about body-frame y-axis, averaged over time interval and expressed in radians per second (rad/s).
        • angularRateZ
          double angularRateZ
          Angular rate of body frame with respect ECI, ECEF or NED frame, resolved about body-frame z-axis, averaged over time interval and expressed in radians per second (rad/s).
        • fx
          double fx
          Specific force of body frame with respect ECI, ECEF or NED frame resolved along body-frame x-axis, averaged over time interval and expressed in meters per squared second (m/s^2).
        • fy
          double fy
          Specific force of body frame with respect ECI, ECEF or NED frame resolved along body-frame y-axis, averaged over time interval and expressed in meters per squared second (m/s^2).
        • fz
          double fz
          Specific force of body frame with respect ECI, ECEF or NED frame resolved along body-frame z-axis, averaged over time interval and expressed in meters per squared second (m/s^2).

    • Class com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity

      class BodyKinematicsAndMagneticFluxDensity extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • kinematics
          BodyKinematics kinematics
          Body kinematics containing sensed specific force and angular rate.
        • magneticFluxDensity
          BodyMagneticFluxDensity magneticFluxDensity
          Body magnetic flux density.

    • Class com.irurueta.navigation.inertial.BodyMagneticFluxDensity

      class BodyMagneticFluxDensity extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • bx
          double bx
          X component of magnetic flux density expressed in Teslas (T).
        • by
          double by
          Y component of magnetic flux density expressed in Teslas (T).
        • bz
          double bz
          Z component of magnetic flux density expressed in Teslas (T).

    • Class com.irurueta.navigation.inertial.ECEFGravity

      class ECEFGravity extends GravityOrGravitation<ECEFGravity> implements Serializable
      serialVersionUID:
      0L

    • Class com.irurueta.navigation.inertial.ECIGravitation

      class ECIGravitation extends GravityOrGravitation<ECIGravitation> implements Serializable
      serialVersionUID:
      0L

    • Class com.irurueta.navigation.inertial.GravityOrGravitation

      class GravityOrGravitation extends Object implements Serializable

      • Serialized Fields

        • gx
          double gx
          Acceleration due to gravity through ECI or ECEF x-axis expressed in meters per squared second (m/s^2).
        • gy
          double gy
          Acceleration due to gravity through ECI or ECEF y-axis expressed in meters per squared second (m/s^2).
        • gz
          double gz
          Acceleration due to gravity through ECI or ECEF z-axis expressed in meters per squared second (m/s^2).

    • Exception com.irurueta.navigation.inertial.InertialException

      class InertialException extends com.irurueta.navigation.NavigationException implements Serializable

    • Exception com.irurueta.navigation.inertial.INSException

      class INSException extends InertialException implements Serializable

    • Exception com.irurueta.navigation.inertial.INSGNSSException

      class INSGNSSException extends InertialException implements Serializable

    • Class com.irurueta.navigation.inertial.INSLooselyCoupledKalmanConfig

      class INSLooselyCoupledKalmanConfig extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • accelerometerBiasPSD
          double accelerometerBiasPSD
          Accelerometer bias random walk PSD (Power Spectral Density) expressed in (m^2 * s^-5).
        • accelerometerNoisePSD
          double accelerometerNoisePSD
          Accelerometer noise PSD (Power Spectral Density) expressed in (m^2 * s^-3).
        • gyroBiasPSD
          double gyroBiasPSD
          Gyro bias random walk PSD (Power Spectral Density) expressed in (rad^2 * s^-3).
        • gyroNoisePSD
          double gyroNoisePSD
          Gyro noise PSD (Power Spectral Density) expressed in squared radians per second (rad^2/s).
        • positionNoiseSD
          double positionNoiseSD
          Position measurement noise SD (Standard Deviation) per axis expressed in meters (m).
        • velocityNoiseSD
          double velocityNoiseSD
          Velocity measurement noise SD (Standard Deviation) per axis expressed in meters per second (m/s).

    • Class com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig

      class INSLooselyCoupledKalmanInitializerConfig extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • initialAccelerationBiasUncertainty
          double initialAccelerationBiasUncertainty
          Initial acceleration bias uncertainty expressed in meters per squared second (m/s^2).
        • initialAttitudeUncertainty
          double initialAttitudeUncertainty
          Initial attitude uncertainty per axis expressed in radians (rad).
        • initialGyroscopeBiasUncertainty
          double initialGyroscopeBiasUncertainty
          Initial gyroscope bias uncertainty expressed in radians per second (rad/s).
        • initialPositionUncertainty
          double initialPositionUncertainty
          Initial position uncertainty per axis expressed in meters (m).
        • initialVelocityUncertainty
          double initialVelocityUncertainty
          Initial velocity uncertainty per axis expressed in meters per second (m/s).

    • Class com.irurueta.navigation.inertial.INSLooselyCoupledKalmanState

      class INSLooselyCoupledKalmanState extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • accelerationBiasX
          double accelerationBiasX
          Estimated accelerometer bias resolved around x axis and expressed in meters per squared second (m/s^2).
        • accelerationBiasY
          double accelerationBiasY
          Estimated accelerometer bias resolved around y axis and expressed in meters per squared second (m/s^2).
        • accelerationBiasZ
          double accelerationBiasZ
          Estimated accelerometer bias resolved around z axis and expressed in meters per squared second (m/s^2).
        • bodyToEcefCoordinateTransformationMatrix
          com.irurueta.algebra.Matrix bodyToEcefCoordinateTransformationMatrix
          Estimated body to ECEF coordinate transformation matrix.
        • covariance
          com.irurueta.algebra.Matrix covariance
          Estimated Kalman filter error covariance matrix. Notice that covariance is expressed in terms of ECEF coordinates. If accuracy of position, attitude or velocity needs to be expressed in terms of NED coordinates, their respective sub-matrices of this covariance matrix must be rotated, taking into account the Jacobian of the matrix transformation relating both coordinates, the covariance can be expressed following the law of propagation of uncertainties (https://en.wikipedia.org/wiki/Propagation_of_uncertainty) as: cov(f(x)) = J*cov(x)*J'.
        • gyroBiasX
          double gyroBiasX
          Estimated gyroscope bias resolved around x axis and expressed in radians per second (rad/s).
        • gyroBiasY
          double gyroBiasY
          Estimated gyroscope bias resolved around y axis and expressed in radians per second (rad/s).
        • gyroBiasZ
          double gyroBiasZ
          Estimated gyroscope bias resolved around z axis and expressed in radians per second (rad/s).
        • vx
          double vx
          Estimated ECEF user velocity resolved around x axis and expressed in meters per second (m/s).
        • vy
          double vy
          Estimated ECEF user velocity resolved around y axis and expressed in meters per second (m/s).
        • vz
          double vz
          Estimated ECEF user velocity resolved around z axis and expressed in meters per second (m/s).
        • x
          double x
          X coordinate of estimated ECEF user position expressed in meters (m).
        • y
          double y
          Y coordinate of estimated ECEF user position expressed in meters (m).
        • z
          double z
          Z coordinate of estimated ECEF user position expressed in meters (m).

    • Class com.irurueta.navigation.inertial.INSTightlyCoupledKalmanConfig

      class INSTightlyCoupledKalmanConfig extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • accelerometerBiasPSD
          double accelerometerBiasPSD
          Accelerometer bias random walk PSD (Power Spectral Density) expressed in (m^2 * s^-5).
        • accelerometerNoisePSD
          double accelerometerNoisePSD
          Accelerometer noise PSD (Power Spectral Density) expressed in (m^2 * s^-3)
        • clockFrequencyPSD
          double clockFrequencyPSD
          Receiver clock frequency-drift PSD (Power Spectral Density) expressed in (m^2/s^3).
        • clockPhasePSD
          double clockPhasePSD
          Receiver clock phase-drift PSD (Power Spectral Density) expressed in squared meters per second (m^2/s).
        • gyroBiasPSD
          double gyroBiasPSD
          Gyro bias random walk PSD (Power Spectral Density) expressed in (rad^2 * s^-3).
        • gyroNoisePSD
          double gyroNoisePSD
          Gyro noise PSD (Power Spectral Density) expressed in squared radians per second (rad^2/s).
        • pseudoRangeSD
          double pseudoRangeSD
          Pseudo-range measurement noise SD (Standard Deviation) expressed in meters (m).
        • rangeRateSD
          double rangeRateSD
          Pseudo-range rate measurement noise SD (Standard Deviation) expressed in meters per second (m/s).

    • Class com.irurueta.navigation.inertial.INSTightlyCoupledKalmanInitializerConfig

      class INSTightlyCoupledKalmanInitializerConfig extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • initialAccelerationBiasUncertainty
          double initialAccelerationBiasUncertainty
          Initial acceleration bias uncertainty expressed in meters per squared second (m/s^2).
        • initialAttitudeUncertainty
          double initialAttitudeUncertainty
          Initial attitude uncertainty per axis expressed in radians (rad).
        • initialClockDriftUncertainty
          double initialClockDriftUncertainty
          Initial clock drift uncertainty per axis expressed in meters per second (m/s).
        • initialClockOffsetUncertainty
          double initialClockOffsetUncertainty
          Initial clock offset uncertainty per axis expressed in meters (m).
        • initialGyroscopeBiasUncertainty
          double initialGyroscopeBiasUncertainty
          Initial gyroscope bias uncertainty expressed in radians per second (rad/s).
        • initialPositionUncertainty
          double initialPositionUncertainty
          Initial position uncertainty per axis expressed in meters (m).
        • initialVelocityUncertainty
          double initialVelocityUncertainty
          Initial velocity uncertainty per axis expressed in meters per second (m/s).

    • Class com.irurueta.navigation.inertial.INSTightlyCoupledKalmanState

      class INSTightlyCoupledKalmanState extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • accelerationBiasX
          double accelerationBiasX
          Estimated accelerometer bias resolved around x axis and expressed in meters per squared second (m/s^2).
        • accelerationBiasY
          double accelerationBiasY
          Estimated accelerometer bias resolved around y axis and expressed in meters per squared second (m/s^2).
        • accelerationBiasZ
          double accelerationBiasZ
          Estimated accelerometer bias resolved around z axis and expressed in meters per squared second (m/s^2).
        • bodyToEcefCoordinateTransformationMatrix
          com.irurueta.algebra.Matrix bodyToEcefCoordinateTransformationMatrix
          Estimated body to ECEF coordinate transformation matrix.
        • covariance
          com.irurueta.algebra.Matrix covariance
          Estimated Kalman filter error covariance matrix. Notice that covariance is expressed in terms of ECEF coordinates. If accuracy of position, attitude or velocity needs to be expressed in terms of NED coordinates, their respective sub-matrices of this covariance matrix must be rotated, taking into account the Jacobian of the matrix transformation relating both coordinates, the covariance can be expressed following the law of propagation of uncertainties (https://en.wikipedia.org/wiki/Propagation_of_uncertainty) as: cov(f(x)) = J*cov(x)*J'.
        • gyroBiasX
          double gyroBiasX
          Estimated gyroscope bias resolved around x axis and expressed in radians per second (rad/s).
        • gyroBiasY
          double gyroBiasY
          Estimated gyroscope bias resolved around y axis and expressed in radians per second (rad/s).
        • gyroBiasZ
          double gyroBiasZ
          Estimated gyroscope bias resolved around z axis and expressed in radians per second (rad/s).
        • receiverClockDrift
          double receiverClockDrift
          Estimated receiver clock drift expressed in meters per second (m/s).
        • receiverClockOffset
          double receiverClockOffset
          Estimated receiver clock offset expressed in meters (m).
        • vx
          double vx
          Estimated ECEF user velocity resolved around x axis and expressed in meters per second (m/s).
        • vy
          double vy
          Estimated ECEF user velocity resolved around y axis and expressed in meters per second (m/s).
        • vz
          double vz
          Estimated ECEF user velocity resolved around z axis and expressed in meters per second (m/s).
        • x
          double x
          X coordinate of estimated ECEF user position expressed in meters (m).
        • y
          double y
          Y coordinate of estimated ECEF user position expressed in meters (m).
        • z
          double z
          Z coordinate of estimated ECEF user position expressed in meters (m).

    • Class com.irurueta.navigation.inertial.NEDGravity

      class NEDGravity extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • gd
          double gd
          Acceleration due to gravity through down-axis of NED frame and expressed in meters per squared second (m/s^2).
        • gn
          double gn
          Acceleration due to gravity through north-axis of NED frame and expressed in meters per squared second (m/s^2).

    • Class com.irurueta.navigation.inertial.RadiiOfCurvature

      class RadiiOfCurvature extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • re
          double re
          Transverse radius of curvature expressed in meters (m). This is the radius of curvature for east-west motion. This is also known as the normal radius of curvature or prime vertical radius of curvature. It is the radius of curvature of a cross-section of the ellipsoid surface in the east-down plane at the point of interest. This is the vertical plane perpendicular to the meridian plane and is not the plane of constant latitude. The transverse radius of curvature varies with latitude and is smallest at the equator. It is also equal to the length of the normal from a point on the surface to the polar axis.
        • rn
          double rn
          Meridian radius of curvature expressed in meters (m). This is the radius of curvature for north-south motion. It is the radius of curvature of a meridian, a cross-section of the ellipsoid surface in the north-down plane, at the point of interest (a given latitude). This is the same as the radius of the best-fitting circle to the meridian ellipse at the point of interest. The meridian radius of curvature varies with latitude and is smallest at the equator, where the geocentric radius is largest, and largest at the poles.

  • Package com.irurueta.navigation.inertial.calibration

    • Class com.irurueta.navigation.inertial.calibration.AccelerationTriad

      class AccelerationTriad extends Triad<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration> implements Serializable
      serialVersionUID:
      0L

    • Class com.irurueta.navigation.inertial.calibration.AngularSpeedTriad

      class AngularSpeedTriad extends Triad<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed> implements Serializable
      serialVersionUID:
      0L

    • Class com.irurueta.navigation.inertial.calibration.BodyKinematicsSequence

      class BodyKinematicsSequence extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • afterMeanFx
          double afterMeanFx
          X-coordinate of mean specific force during the static period happening right after this sequence was measured. Expressed in meters per squared second (m/s^2).
        • afterMeanFy
          double afterMeanFy
          Y-coordinate of mean specific force during the static period happening right after this sequence was measured. Expressed in meters per squared second (m/s^2).
        • afterMeanFz
          double afterMeanFz
          Z-coordinate of mean specific force during the static period happening right after this sequence was measured. Expressed in meters per squared second (m/s^2).
        • beforeMeanFx
          double beforeMeanFx
          X-coordinate of mean specific force during the static period happening right before this sequence was measured. Expressed in meters per squared second (m/s^2).
        • beforeMeanFy
          double beforeMeanFy
          Y-coordinate of mean specific force during the static period happening right before this sequence was measured. Expressed in meters per squared second (m/s^2).
        • beforeMeanFz
          double beforeMeanFz
          Z-coordinate of mean specific force during the static period happening right before this sequence was measured. Expressed in meters per squared second (m/s^2).
        • items
          ArrayList<T extends TimedBodyKinematics> items
          List of items. If items are provided unsorted, they are reordered by timestamp on getter method.
        • sortedItems
          ArrayList<T extends TimedBodyKinematics> sortedItems
          Contains sorted list of items. This list is kept for performance reasons to reduce the amount of required sorting.

    • Exception com.irurueta.navigation.inertial.calibration.CalibrationException

      class CalibrationException extends InertialException implements Serializable

    • Class com.irurueta.navigation.inertial.calibration.FrameBodyKinematics

      class FrameBodyKinematics extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • frame
          com.irurueta.navigation.frames.ECEFFrame frame
          Contains current body position, velocity (which will typically be zero) and orientation resolved around ECEF axes.
        • kinematics
          BodyKinematics kinematics
          Current body kinematics measurement. Contains accelerometer and gyroscope measurements.
        • previousFrame
          com.irurueta.navigation.frames.ECEFFrame previousFrame
          Contains body position, velocity (which will typically be zero) and orientation resolved around ECEF axes of previous IMU measurement.
        • timeInterval
          double timeInterval
          Time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

    • Class com.irurueta.navigation.inertial.calibration.FrameBodyMagneticFluxDensity

      class FrameBodyMagneticFluxDensity extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • frame
          com.irurueta.navigation.frames.ECEFFrame frame
          Contains current body position, velocity (which will typically be zero) and orientation resolved around ECEF axes.
        • magneticFluxDensity
          BodyMagneticFluxDensity magneticFluxDensity
          Current body magnetic flux density. Contains magnetometer measurements.
        • year
          double year
          Contains year expressed in decimal format.

    • Class com.irurueta.navigation.inertial.calibration.IMUErrors

      class IMUErrors extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • accelerometerBiases
          double[] accelerometerBiases
          Accelerometer biases for each IMU axis expressed in meters per squared second (m/s^2). By default, it is assumed to be all zeros.
        • accelerometerNoiseRootPSD
          double accelerometerNoiseRootPSD
          Accelerometer noise root PSD expressed in (m * s^-1.5). By default it is zero.
        • accelerometerQuantizationLevel
          double accelerometerQuantizationLevel
          Accelerometer quantization level expressed in meters per squared second (m/s^2). By default, it is zero when no quantization is assumed.
        • accelerometerScaleFactorAndCrossCouplingErrors
          com.irurueta.algebra.Matrix accelerometerScaleFactorAndCrossCouplingErrors
          Contains accelerometer scale factors and cross coupling errors. This is the product of matrix Ta containing cross coupling errors and Ka containing scaling factors. So that: 
               Ma = [sx    mxy  mxz] = Ta*Ka
          [myx   sy   myz]
          [mzx   mzy  sz ]
          Where: 
               Ka = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
          and 
               Ta = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
          Hence: 
               Ma = [sx    mxy  mxz] = Ta*Ka =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
          This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
               Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
          Values of this matrix are unit-less. By default, it is the 3x3 zero matrix.
        • gyroBiases
          double[] gyroBiases
          Gyro biases for each IMU axis expressed in radians per second (rad/s). By default, it is assumed to be all zeros.
        • gyroGDependentBiases
          com.irurueta.algebra.Matrix gyroGDependentBiases
          3x3 matrix containing cross biases introduced by the specific forces sensed by the accelerometer. Values of this matrix are expressed in (rad-sec/m). By default, it is all zeros.
        • gyroNoiseRootPSD
          double gyroNoiseRootPSD
          Gyro noise root PSD expressed in (rad * s^-0.5). By default, it is zero.
        • gyroQuantizationLevel
          double gyroQuantizationLevel
          Gyro quantization level expressed in radians per second (rad/s). By default, it is zero when no quantization is assumed.
        • gyroScaleFactorAndCrossCouplingErrors
          com.irurueta.algebra.Matrix gyroScaleFactorAndCrossCouplingErrors
          Contains gyro scale factors and cross coupling errors. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So that: 
               Mg = [sx    mxy  mxz] = Tg*Kg
          [myx   sy   myz]
          [mzx   mzy  sz ]
          Where: 
               Kg = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
          and 
               Tg = [1          -gammaXy    gammaXz ]
          [gammaYx    1           -gammaYz]
          [-gammaZx   gammaZy     1       ]
          Hence: 
               Mg = [sx    mxy  mxz] = Tg*Kg =  [sx             -sy * gammaXy   sz * gammaXz ]
          [myx   sy   myz]            [sx * gammaYx   sy              -sz * gammaYz]
          [mzx   mzy  sz ]            [-sx * gammaZx  sy * gammaZy    sz           ]
          This instance allows any 3x3 matrix however, typically gammaYx, gammaZx and gammaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Ma matrix becomes upper diagonal: 
               Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
          Values of this matrix are unit-less. By default, it is the 3x3 zero matrix.

    • Class com.irurueta.navigation.inertial.calibration.MagneticFluxDensityTriad

      class MagneticFluxDensityTriad extends Triad<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity> implements Serializable
      serialVersionUID:
      0L

    • Class com.irurueta.navigation.inertial.calibration.StandardDeviationBodyKinematics

      class StandardDeviationBodyKinematics extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • angularRateStandardDeviation
          double angularRateStandardDeviation
          Standard deviation of measured angular rate expressed in radians per second (rad/s).
        • kinematics
          BodyKinematics kinematics
          Current body kinematics measurement. Contains accelerometer and gyroscope measurements.
        • specificForceStandardDeviation
          double specificForceStandardDeviation
          Standard deviation of measured specific force expressed in meters per squared second (m/s^2).

    • Class com.irurueta.navigation.inertial.calibration.StandardDeviationBodyMagneticFluxDensity

      class StandardDeviationBodyMagneticFluxDensity extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • magneticFluxDensity
          BodyMagneticFluxDensity magneticFluxDensity
          Current body magnetic flux density. Contains magnetometer measurements.
        • magneticFluxDensityStandardDeviation
          double magneticFluxDensityStandardDeviation
          Standard deviation of measured magnetic flux density expressed in Teslas (T).

    • Class com.irurueta.navigation.inertial.calibration.StandardDeviationFrameBodyKinematics

      class StandardDeviationFrameBodyKinematics extends FrameBodyKinematics implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • angularRateStandardDeviation
          double angularRateStandardDeviation
          Standard deviation of measured angular rate expressed in radians per second (rad/s).
        • specificForceStandardDeviation
          double specificForceStandardDeviation
          Standard deviation of measured specific force expressed in meters per squared second (m/s^2).

    • Class com.irurueta.navigation.inertial.calibration.StandardDeviationFrameBodyMagneticFluxDensity

      class StandardDeviationFrameBodyMagneticFluxDensity extends FrameBodyMagneticFluxDensity implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • magneticFluxDensityStandardDeviation
          double magneticFluxDensityStandardDeviation
          Standard deviation of measured magnetic flux density expressed in Teslas (T).

    • Class com.irurueta.navigation.inertial.calibration.StandardDeviationTimedBodyKinematics

      class StandardDeviationTimedBodyKinematics extends TimedBodyKinematics implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • angularRateStandardDeviation
          double angularRateStandardDeviation
          Standard deviation of measured angular rate expressed in radians per second (rad/s).
        • specificForceStandardDeviation
          double specificForceStandardDeviation
          Standard deviation of measured specific force expressed in meters per squared second (m/s^2).

    • Class com.irurueta.navigation.inertial.calibration.TimedBodyKinematics

      class TimedBodyKinematics extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • kinematics
          BodyKinematics kinematics
          Current body kinematics measurement. Contains accelerometer and gyroscope measurements.
        • timestampSeconds
          double timestampSeconds
          Timestamp value expressed in seconds.

    • Class com.irurueta.navigation.inertial.calibration.TimedBodyKinematicsAndMagneticFluxDensity

      class TimedBodyKinematicsAndMagneticFluxDensity extends BodyKinematicsAndMagneticFluxDensity implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • timestampSeconds
          double timestampSeconds
          Timestamp value expressed in seconds.

    • Class com.irurueta.navigation.inertial.calibration.Triad

      class Triad extends Object implements Serializable

      • Serialized Fields

        • unit
          U extends Enum<?> unit
          Contains unit of measurement.
        • valueX
          double valueX
          Contains x coordinate of measurement value.
        • valueY
          double valueY
          Contains y coordinate of measurement value.
        • valueZ
          double valueZ
          Contains z coordinate of measurement value.

  • Package com.irurueta.navigation.inertial.navigators

  • Package com.irurueta.navigation.inertial.wmm

    • Class com.irurueta.navigation.inertial.wmm.NEDMagneticFluxDensity

      class NEDMagneticFluxDensity extends Object implements Serializable
      serialVersionUID:
      0L

      • Serialized Fields

        • bd
          double bd
          Down component of magnetic flux density expressed in Teslas (T).
        • be
          double be
          East component of magnetic flux density expressed in Teslas (T).
        • bn
          double bn
          North component of magnetic flux density expressed in Teslas (T).