Package com.irurueta.navigation.inertial.calibration

Class AccelerationFixer

java.lang.Object
com.irurueta.navigation.inertial.calibration.AccelerationFixer
public class AccelerationFixer extends Object
Fixes acceleration values taking into account provided bias and cross coupling errors.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private com.irurueta.algebra.Matrix
    bias
    Bias matrix to be reused.
    private com.irurueta.algebra.Matrix
    crossCouplingErrors
    Cross coupling errors matrix to be reused.
    private com.irurueta.algebra.Matrix
    diff
    Temporary matrix to be reused.
    private com.irurueta.algebra.Matrix
    identity
    Identity matrix to be reused.
    private final double[]
    measuredF
    Measured specific force array to be reused.
    private final double[]
    res
    Array containing result values to be reused.
    private com.irurueta.algebra.Matrix
    tmp1
    Temporary matrix to be reused.
    private com.irurueta.algebra.Matrix
    tmp2
    Temporary matrix to be reused.
    private com.irurueta.algebra.Matrix
    tmp3
    Temporary matrix to be reused.

  • Constructor Summary

    Constructors
    Constructor
    Description
    AccelerationFixer()
    Constructor.

  • Method Summary

    Modifier and Type
    Method
    Description
    private static double
    convertAcceleration(double value, com.irurueta.units.AccelerationUnit unit)
    Converts acceleration value and unit to meters per squared second (m/s^2).
    private static double
    convertAcceleration(com.irurueta.units.Acceleration acceleration)
    Converts acceleration measurement to meters per squared second (m/s^2).
    void
    fix(double[] measuredF, double[] result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(double[] measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(double measuredFx, double measuredFy, double measuredFz, double[] result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy, double[] result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy, com.irurueta.algebra.Matrix result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors, com.irurueta.algebra.Matrix result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(double measuredFx, double measuredFy, double measuredFz, com.irurueta.algebra.Matrix result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(com.irurueta.algebra.Matrix measuredF, double[] result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(com.irurueta.algebra.Matrix measuredF, com.irurueta.algebra.Matrix result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(com.irurueta.algebra.Matrix measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(com.irurueta.algebra.Matrix measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, com.irurueta.algebra.Matrix result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(AccelerationTriad measuredF, double[] result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(AccelerationTriad measuredF, com.irurueta.algebra.Matrix result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(AccelerationTriad measuredF, AccelerationTriad result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    void
    fix(com.irurueta.units.Acceleration measuredFx, com.irurueta.units.Acceleration measuredFy, com.irurueta.units.Acceleration measuredFz, AccelerationTriad result)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    double[]
    fixAndReturnNew(double[] measuredF)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    double[]
    fixAndReturnNew(double[] measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    double[]
    fixAndReturnNew(double measuredFx, double measuredFy, double measuredFz)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    double[]
    fixAndReturnNew(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    double[]
    fixAndReturnNew(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    double[]
    fixAndReturnNew(com.irurueta.algebra.Matrix measuredF)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    double[]
    fixAndReturnNew(com.irurueta.algebra.Matrix measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    AccelerationTriad
    fixAndReturnNew(AccelerationTriad measuredF)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    AccelerationTriad
    fixAndReturnNew(com.irurueta.units.Acceleration measuredFx, com.irurueta.units.Acceleration measuredFy, com.irurueta.units.Acceleration measuredFz)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    com.irurueta.algebra.Matrix
    fixAndReturnNewMatrix(double measuredFx, double measuredFy, double measuredFz)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    com.irurueta.algebra.Matrix
    fixAndReturnNewMatrix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    com.irurueta.algebra.Matrix
    fixAndReturnNewMatrix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    com.irurueta.algebra.Matrix
    fixAndReturnNewMatrix(com.irurueta.algebra.Matrix measuredF)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    com.irurueta.algebra.Matrix
    fixAndReturnNewMatrix(com.irurueta.algebra.Matrix measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors)
    Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
    com.irurueta.algebra.Matrix
    getBias()
    Gets bias values expressed in meters per squared second (m/s^2).
    void
    getBias(com.irurueta.algebra.Matrix result)
    Gets bias values expressed in meters per squared second (m/s^2).
    double[]
    getBiasArray()
    Gets bias values expressed in meters per squared second (m/s^2).
    void
    getBiasArray(double[] result)
    Gets bias values expressed in meters per squared second (m/s^2).
    AccelerationTriad
    getBiasAsTriad()
    Gets acceleration bias.
    void
    getBiasAsTriad(AccelerationTriad result)
    Gets acceleration bias.
    double
    getBiasX()
    Gets x-coordinate of bias expressed in meters per squared second (m/s^2).
    com.irurueta.units.Acceleration
    getBiasXAsAcceleration()
    Gets x-coordinate of bias.
    void
    getBiasXAsAcceleration(com.irurueta.units.Acceleration result)
    Gets x-coordinate of bias.
    double
    getBiasY()
    Gets y-coordinate of bias expressed in meters per squared second (m/s^2).
    com.irurueta.units.Acceleration
    getBiasYAsAcceleration()
    Gets y-coordinate of bias.
    void
    getBiasYAsAcceleration(com.irurueta.units.Acceleration result)
    Gets y-coordinate of bias.
    double
    getBiasZ()
    Gets z-coordinate of bias expressed in meters per squared second (m/s^2).
    com.irurueta.units.Acceleration
    getBiasZAsAcceleration()
    Gets z-coordinate of bias.
    void
    getBiasZAsAcceleration(com.irurueta.units.Acceleration result)
    Gets z-coordinate of bias.
    com.irurueta.algebra.Matrix
    getCrossCouplingErrors()
    Gets cross coupling errors matrix.
    void
    getCrossCouplingErrors(com.irurueta.algebra.Matrix result)
    Gets cross coupling errors matrix.
    double
    getMxy()
    Gets x-y cross coupling error.
    double
    getMxz()
    Gets x-z cross coupling error.
    double
    getMyx()
    Gets y-x cross coupling error.
    double
    getMyz()
    Gets y-z cross coupling error.
    double
    getMzx()
    Gets z-x cross coupling error.
    double
    getMzy()
    Gets z-y cross coupling error.
    double
    getSx()
    Gets x scaling factor.
    double
    getSy()
    Gets y scaling factor.
    double
    getSz()
    Gets z scaling factor.
    void
    setBias(double[] bias)
    Sets bias values expressed in meters per squared second (m/s^2).
    void
    setBias(double biasX, double biasY, double biasZ)
    Sets coordinates of bias expressed in meters per squared second (m/s^2).
    void
    setBias(com.irurueta.algebra.Matrix bias)
    Sets bias values expressed in meters per squared second (m/s^2).
    void
    setBias(AccelerationTriad bias)
    Sets acceleration bias.
    void
    setBias(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
    Sets coordinates of bias.
    void
    setBiasX(double biasX)
    Sets x-coordinate of bias expressed in meters per squared second (m/s^2).
    void
    setBiasX(com.irurueta.units.Acceleration biasX)
    Sets x-coordinate of bias.
    void
    setBiasY(double biasY)
    Sets y-coordinate of bias expressed in meters per squared second (m/s^2).
    void
    setBiasY(com.irurueta.units.Acceleration biasY)
    Sets y-coordinate of bias.
    void
    setBiasZ(double biasZ)
    Sets z-coordinate of bias expressed in meters per squared second (m/s^2).
    void
    setBiasZ(com.irurueta.units.Acceleration biasZ)
    Sets z-coordinate of bias.
    void
    setCrossCouplingErrors(double mxy, double mxz, double myx, double myz, double mzx, double mzy)
    Sets cross coupling errors.
    void
    setCrossCouplingErrors(com.irurueta.algebra.Matrix crossCouplingErrors)
    Sets cross coupling errors matrix.
    void
    setMxy(double mxy)
    Sets x-y cross coupling error.
    void
    setMxz(double mxz)
    Sets x-z cross coupling error.
    void
    setMyx(double myx)
    Sets y-x cross coupling error.
    void
    setMyz(double myz)
    Sets y-z cross coupling error.
    void
    setMzx(double mzx)
    Sets z-x cross coupling error.
    void
    setMzy(double mzy)
    Sets z-y cross coupling error.
    void
    setScalingFactors(double sx, double sy, double sz)
    Sets scaling factors.
    void
    setScalingFactorsAndCrossCouplingErrors(double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy)
    Sets scaling factors and cross coupling errors.
    void
    setSx(double sx)
    Sets x scaling factor
    void
    setSy(double sy)
    Sets y scaling factor.
    void
    setSz(double sz)
    Sets z scaling factor.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • identity

      private com.irurueta.algebra.Matrix identity
      Identity matrix to be reused.

    • tmp1

      private com.irurueta.algebra.Matrix tmp1
      Temporary matrix to be reused.

    • tmp2

      private com.irurueta.algebra.Matrix tmp2
      Temporary matrix to be reused.

    • diff

      private com.irurueta.algebra.Matrix diff
      Temporary matrix to be reused.

    • tmp3

      private com.irurueta.algebra.Matrix tmp3
      Temporary matrix to be reused.

    • measuredF

      private final double[] measuredF
      Measured specific force array to be reused.

    • res

      private final double[] res
      Array containing result values to be reused.

    • bias

      private com.irurueta.algebra.Matrix bias
      Bias matrix to be reused.

    • crossCouplingErrors

      private com.irurueta.algebra.Matrix crossCouplingErrors
      Cross coupling errors matrix to be reused.

  • Constructor Details

    • AccelerationFixer

      public AccelerationFixer()
      Constructor.

  • Method Details

    • getBias

      public com.irurueta.algebra.Matrix getBias()
      Gets bias values expressed in meters per squared second (m/s^2).
      Returns:
      bias values expressed in meters per squared second.

    • getBias

      public void getBias(com.irurueta.algebra.Matrix result)
      Gets bias values expressed in meters per squared second (m/s^2).
      Parameters:
      result - instance where result will be stored.

    • setBias

      public void setBias(com.irurueta.algebra.Matrix bias)
      Sets bias values expressed in meters per squared second (m/s^2).
      Parameters:
      bias - bias values expressed in meters per squared second. Must be 3x1.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • getBiasArray

      public double[] getBiasArray()
      Gets bias values expressed in meters per squared second (m/s^2).
      Returns:
      bias values expressed in meters per squared second.

    • getBiasArray

      public void getBiasArray(double[] result)
      Gets bias values expressed in meters per squared second (m/s^2).
      Parameters:
      result - instance where result data will be stored.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setBias

      public void setBias(double[] bias)
      Sets bias values expressed in meters per squared second (m/s^2).
      Parameters:
      bias - bias values expressed in meters per squared second (m/s^2). Must have length 3.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • getBiasAsTriad

      public AccelerationTriad getBiasAsTriad()
      Gets acceleration bias.
      Returns:
      acceleration bias.

    • getBiasAsTriad

      public void getBiasAsTriad(AccelerationTriad result)
      Gets acceleration bias.
      Parameters:
      result - instance where result will be stored.

    • setBias

      public void setBias(AccelerationTriad bias)
      Sets acceleration bias.
      Parameters:
      bias - acceleration bias to be set.

    • getBiasX

      public double getBiasX()
      Gets x-coordinate of bias expressed in meters per squared second (m/s^2).
      Returns:
      x-coordinate of bias expressed in meters per squared second (m/s^2).

    • setBiasX

      public void setBiasX(double biasX)
      Sets x-coordinate of bias expressed in meters per squared second (m/s^2).
      Parameters:
      biasX - x-coordinate of bias expressed in meters per squared second (m/s^2).

    • getBiasY

      public double getBiasY()
      Gets y-coordinate of bias expressed in meters per squared second (m/s^2).
      Returns:
      y-coordinate of bias expressed in meters per squared second (m/s^2).

    • setBiasY

      public void setBiasY(double biasY)
      Sets y-coordinate of bias expressed in meters per squared second (m/s^2).
      Parameters:
      biasY - y-coordinate of bias expressed in meters per squared second (m/s^2).

    • getBiasZ

      public double getBiasZ()
      Gets z-coordinate of bias expressed in meters per squared second (m/s^2).
      Returns:
      z-coordinate of bias expressed in meters per squared second (m/s^2).

    • setBiasZ

      public void setBiasZ(double biasZ)
      Sets z-coordinate of bias expressed in meters per squared second (m/s^2).
      Parameters:
      biasZ - z-coordinate of bias expressed in meters per squared second (m/s^2).

    • setBias

      public void setBias(double biasX, double biasY, double biasZ)
      Sets coordinates of bias expressed in meters per squared second (m/s^2).
      Parameters:
      biasX - x-coordinate of bias.
      biasY - y-coordinate of bias.
      biasZ - z-coordinate of bias.

    • getBiasXAsAcceleration

      public com.irurueta.units.Acceleration getBiasXAsAcceleration()
      Gets x-coordinate of bias.
      Returns:
      x-coordinate of bias.

    • getBiasXAsAcceleration

      public void getBiasXAsAcceleration(com.irurueta.units.Acceleration result)
      Gets x-coordinate of bias.
      Parameters:
      result - instance where result will be stored.

    • setBiasX

      public void setBiasX(com.irurueta.units.Acceleration biasX)
      Sets x-coordinate of bias.
      Parameters:
      biasX - x-coordinate of bias.

    • getBiasYAsAcceleration

      public com.irurueta.units.Acceleration getBiasYAsAcceleration()
      Gets y-coordinate of bias.
      Returns:
      y-coordinate of bias.

    • getBiasYAsAcceleration

      public void getBiasYAsAcceleration(com.irurueta.units.Acceleration result)
      Gets y-coordinate of bias.
      Parameters:
      result - instance where result will be stored.

    • setBiasY

      public void setBiasY(com.irurueta.units.Acceleration biasY)
      Sets y-coordinate of bias.
      Parameters:
      biasY - y-coordinate of bias.

    • getBiasZAsAcceleration

      public com.irurueta.units.Acceleration getBiasZAsAcceleration()
      Gets z-coordinate of bias.
      Returns:
      z-coordinate of bias.

    • getBiasZAsAcceleration

      public void getBiasZAsAcceleration(com.irurueta.units.Acceleration result)
      Gets z-coordinate of bias.
      Parameters:
      result - instance where result will be stored.

    • setBiasZ

      public void setBiasZ(com.irurueta.units.Acceleration biasZ)
      Sets z-coordinate of bias.
      Parameters:
      biasZ - z-coordinate of bias.

    • setBias

      public void setBias(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Sets coordinates of bias.
      Parameters:
      biasX - x-coordinate of bias.
      biasY - y-coordinate of bias.
      biasZ - z-coordinate of bias.

    • getCrossCouplingErrors

      public com.irurueta.algebra.Matrix getCrossCouplingErrors()
      Gets cross coupling errors matrix.
      Returns:
      cross coupling errors matrix.

    • getCrossCouplingErrors

      public void getCrossCouplingErrors(com.irurueta.algebra.Matrix result)
      Gets cross coupling errors matrix.
      Parameters:
      result - instance where result will be stored.

    • setCrossCouplingErrors

      public void setCrossCouplingErrors(com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Sets cross coupling errors matrix.
      Parameters:
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided matrix cannot be inverted.
      IllegalArgumentException - if provided matrix is not 3x3.

    • getSx

      public double getSx()
      Gets x scaling factor.
      Returns:
      x scaling factor.

    • setSx

      public void setSx(double sx) throws com.irurueta.algebra.AlgebraException
      Sets x scaling factor
      Parameters:
      sx - x scaling factor.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non invertible.

    • getSy

      public double getSy()
      Gets y scaling factor.
      Returns:
      y scaling factor.

    • setSy

      public void setSy(double sy) throws com.irurueta.algebra.AlgebraException
      Sets y scaling factor.
      Parameters:
      sy - y scaling factor.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non invertible.

    • getSz

      public double getSz()
      Gets z scaling factor.
      Returns:
      z scaling factor.

    • setSz

      public void setSz(double sz) throws com.irurueta.algebra.AlgebraException
      Sets z scaling factor.
      Parameters:
      sz - z scaling factor.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non invertible.

    • getMxy

      public double getMxy()
      Gets x-y cross coupling error.
      Returns:
      x-y cross coupling error.

    • setMxy

      public void setMxy(double mxy) throws com.irurueta.algebra.AlgebraException
      Sets x-y cross coupling error.
      Parameters:
      mxy - x-y cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non invertible.

    • getMxz

      public double getMxz()
      Gets x-z cross coupling error.
      Returns:
      x-z cross coupling error.

    • setMxz

      public void setMxz(double mxz) throws com.irurueta.algebra.AlgebraException
      Sets x-z cross coupling error.
      Parameters:
      mxz - x-z cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non invertible.

    • getMyx

      public double getMyx()
      Gets y-x cross coupling error.
      Returns:
      y-x cross coupling error.

    • setMyx

      public void setMyx(double myx) throws com.irurueta.algebra.AlgebraException
      Sets y-x cross coupling error.
      Parameters:
      myx - y-x cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non invertible.

    • getMyz

      public double getMyz()
      Gets y-z cross coupling error.
      Returns:
      y-z cross coupling error.

    • setMyz

      public void setMyz(double myz) throws com.irurueta.algebra.AlgebraException
      Sets y-z cross coupling error.
      Parameters:
      myz - y-z cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non invertible.

    • getMzx

      public double getMzx()
      Gets z-x cross coupling error.
      Returns:
      z-x cross coupling error.

    • setMzx

      public void setMzx(double mzx) throws com.irurueta.algebra.AlgebraException
      Sets z-x cross coupling error.
      Parameters:
      mzx - z-x cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non invertible.

    • getMzy

      public double getMzy()
      Gets z-y cross coupling error.
      Returns:
      z-y cross coupling error.

    • setMzy

      public void setMzy(double mzy) throws com.irurueta.algebra.AlgebraException
      Sets z-y cross coupling error.
      Parameters:
      mzy - z-y cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided value makes cross coupling matrix non invertible.

    • setScalingFactors

      public void setScalingFactors(double sx, double sy, double sz) throws com.irurueta.algebra.AlgebraException
      Sets scaling factors.
      Parameters:
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided values make cross coupling matrix non invertible.

    • setCrossCouplingErrors

      public void setCrossCouplingErrors(double mxy, double mxz, double myx, double myz, double mzx, double mzy) throws com.irurueta.algebra.AlgebraException
      Sets cross coupling errors.
      Parameters:
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided values make cross coupling matrix non invertible.

    • setScalingFactorsAndCrossCouplingErrors

      public void setScalingFactorsAndCrossCouplingErrors(double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy) throws com.irurueta.algebra.AlgebraException
      Sets scaling factors and cross coupling errors.
      Parameters:
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      Throws:
      com.irurueta.algebra.AlgebraException - if provided values make cross coupling matrix non invertible.

    • fix

      public void fix(AccelerationTriad measuredF, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredF - measured specific force.
      result - instance where restored true specific force will be stored. Mut have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if length of provided result array is not 3.

    • fix

      public void fix(AccelerationTriad measuredF, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredF - measured specific force.
      result - instance where restored true specific force will be stored. Mut be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if result matrix is not 3x1.

    • fix

      public void fix(AccelerationTriad measuredF, AccelerationTriad result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredF - measured specific force.
      result - instance where restored true specific force will be stored.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fix

      public void fix(com.irurueta.units.Acceleration measuredFx, com.irurueta.units.Acceleration measuredFy, com.irurueta.units.Acceleration measuredFz, AccelerationTriad result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredFx - x-coordinate of measured specific force.
      measuredFy - y-coordinate of measured specific force.
      measuredFz - z-coordinate of measured specific force.
      result - instance where restored true specific force will be stored.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fix

      public void fix(double[] measuredF, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must have length 3.
      result - instance where restored true specific force will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(com.irurueta.algebra.Matrix measuredF, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must be 3x1.
      result - instance where restored true specific force will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(com.irurueta.algebra.Matrix measuredF, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must be 3x1.
      result - instance where restored true specific force will be stored. Must be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(double measuredFx, double measuredFy, double measuredFz, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      result - instance where restored true specific force will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if provided result array does not have length 3.

    • fix

      public void fix(double measuredFx, double measuredFy, double measuredFz, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      result - instance where restored true specific force will be stored. Must be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if provided result matrix is not 3x1.

    • fix

      public void fix(double[] measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must have length 3.
      bias - bias values expressed in meters per squared second (m/s^2). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      result - instance where restored true specific force will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(com.irurueta.algebra.Matrix measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must be 3x1.
      bias - bias values expressed in meters per squared second (m/s^2). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      result - instance where restored true specific force will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(com.irurueta.algebra.Matrix measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must have length 3.
      bias - bias values expressed in meters per squared second (m/s^2). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      result - instance where restored true specific force will be stored. Must be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of bias expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of bias expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of bias expressed in meters per squared second (m/s^2).
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      result - instance where restored true specific force will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of bias expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of bias expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of bias expressed in meters per squared second (m/s^2).
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      result - instance where restored true specific force will be stored. Must be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fix

      public void fix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy, double[] result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of bias expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of bias expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of bias expressed in meters per squared second (m/s^2).
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      result - instance where restored true specific force will be stored. Must have length 3.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if result does not have length 3.

    • fix

      public void fix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy, com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of bias expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of bias expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of bias expressed in meters per squared second (m/s^2).
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      result - instance where restored true specific force will be stored. Must have be 3x1.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if result is not 3x1.

    • fixAndReturnNew

      public AccelerationTriad fixAndReturnNew(AccelerationTriad measuredF) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredF - measured specific force.
      Returns:
      restored true specific force.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fixAndReturnNew

      public AccelerationTriad fixAndReturnNew(com.irurueta.units.Acceleration measuredFx, com.irurueta.units.Acceleration measuredFy, com.irurueta.units.Acceleration measuredFz) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredFx - x-coordinate of measured specific force.
      measuredFy - y-coordinate of measured specific force.
      measuredFz - z-coordinate of measured specific force.
      Returns:
      restored true specific force.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fixAndReturnNew

      public double[] fixAndReturnNew(double[] measuredF) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must have length 3.
      Returns:
      restored true specific force.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if provided array does not have length 3.

    • fixAndReturnNew

      public double[] fixAndReturnNew(com.irurueta.algebra.Matrix measuredF) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must be 3x1.
      Returns:
      restored true specific force.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNewMatrix

      public com.irurueta.algebra.Matrix fixAndReturnNewMatrix(com.irurueta.algebra.Matrix measuredF) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must be 3x1.
      Returns:
      restored true specific force.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNew

      public double[] fixAndReturnNew(double measuredFx, double measuredFy, double measuredFz) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      Returns:
      restored true specific force.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fixAndReturnNewMatrix

      public com.irurueta.algebra.Matrix fixAndReturnNewMatrix(double measuredFx, double measuredFy, double measuredFz) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force. This method uses last provided bias and cross coupling errors.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      Returns:
      restored true specific force.
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fixAndReturnNew

      public double[] fixAndReturnNew(double[] measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must have length 3.
      bias - bias values expressed in meters per squared second (m/s^2). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Returns:
      restored true specific force expressed in meters per squared second (m/s^2).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNew

      public double[] fixAndReturnNew(com.irurueta.algebra.Matrix measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must be 3x1.
      bias - bias values expressed in meters per squared second (m/s^2). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Returns:
      restored true specific force expressed in meters per squared second (m/s^2).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNewMatrix

      public com.irurueta.algebra.Matrix fixAndReturnNewMatrix(com.irurueta.algebra.Matrix measuredF, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredF - measured specific force expressed in meters per squared second (m/s^2). Must have length 3.
      bias - bias values expressed in meters per squared second (m/s^2). Must be 3x1.
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Returns:
      restored true specific force expressed in meters per squared second (m/s^2).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNew

      public double[] fixAndReturnNew(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of bias expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of bias expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of bias expressed in meters per squared second (m/s^2).
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Returns:
      restored true specific force expressed in meters per squared second (m/s^2).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNewMatrix

      public com.irurueta.algebra.Matrix fixAndReturnNewMatrix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, com.irurueta.algebra.Matrix crossCouplingErrors) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of bias expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of bias expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of bias expressed in meters per squared second (m/s^2).
      crossCouplingErrors - cross coupling errors matrix. Must be 3x3.
      Returns:
      restored true specific force expressed in meters per squared second (m/s^2).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.
      IllegalArgumentException - if any of the provided parameters does not have proper size.

    • fixAndReturnNew

      public double[] fixAndReturnNew(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of bias expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of bias expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of bias expressed in meters per squared second (m/s^2).
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      Returns:
      restored true specific force expressed in meters per squared second (m/s^2).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • fixAndReturnNewMatrix

      public com.irurueta.algebra.Matrix fixAndReturnNewMatrix(double measuredFx, double measuredFy, double measuredFz, double biasX, double biasY, double biasZ, double sx, double sy, double sz, double mxy, double mxz, double myx, double myz, double mzx, double mzy) throws com.irurueta.algebra.AlgebraException
      Fixes provided measured specific force values by undoing the errors introduced by the accelerometer model to restore the true specific force.
      Parameters:
      measuredFx - x-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFy - y-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      measuredFz - z-coordinate of measured specific force expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of bias expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of bias expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of bias expressed in meters per squared second (m/s^2).
      sx - x scaling factor.
      sy - y scaling factor.
      sz - z scaling factor.
      mxy - x-y cross coupling error.
      mxz - x-z cross coupling error.
      myx - y-x cross coupling error.
      myz - y-z cross coupling error.
      mzx - z-x cross coupling error.
      mzy - z-y cross coupling error.
      Returns:
      restored true specific force expressed in meters per squared second (m/s^2).
      Throws:
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities.

    • convertAcceleration

      private static double convertAcceleration(double value, com.irurueta.units.AccelerationUnit unit)
      Converts acceleration value and unit to meters per squared second (m/s^2).
      Parameters:
      value - value to be converted.
      unit - unit of value to be converted.
      Returns:
      converted value.

    • convertAcceleration

      private static double convertAcceleration(com.irurueta.units.Acceleration acceleration)
      Converts acceleration measurement to meters per squared second (m/s^2).
      Parameters:
      acceleration - acceleration to be converted.
      Returns:
      converted value.