Package com.irurueta.navigation.inertial.calibration

Interface AccelerometerCalibrationSource

All Known Implementing Classes:

BaseGravityNormAccelerometerCalibrator, KnownFrameAccelerometerLinearLeastSquaresCalibrator, KnownFrameAccelerometerNonLinearLeastSquaresCalibrator, KnownGravityNormAccelerometerCalibrator, KnownPositionAccelerometerCalibrator, LMedSRobustKnownFrameAccelerometerCalibrator, LMedSRobustKnownGravityNormAccelerometerCalibrator, LMedSRobustKnownPositionAccelerometerCalibrator, MSACRobustKnownFrameAccelerometerCalibrator, MSACRobustKnownGravityNormAccelerometerCalibrator, MSACRobustKnownPositionAccelerometerCalibrator, PROMedSRobustKnownFrameAccelerometerCalibrator, PROMedSRobustKnownGravityNormAccelerometerCalibrator, PROMedSRobustKnownPositionAccelerometerCalibrator, PROSACRobustKnownFrameAccelerometerCalibrator, PROSACRobustKnownGravityNormAccelerometerCalibrator, PROSACRobustKnownPositionAccelerometerCalibrator, RANSACRobustKnownFrameAccelerometerCalibrator, RANSACRobustKnownGravityNormAccelerometerCalibrator, RANSACRobustKnownPositionAccelerometerCalibrator, RobustKnownFrameAccelerometerCalibrator, RobustKnownGravityNormAccelerometerCalibrator, RobustKnownPositionAccelerometerCalibrator

public interface AccelerometerCalibrationSource

Defines a source for estimated accelerometer calibration data.

Method Summary

Modifier and Type	Method	Description
double[]	getEstimatedBiases()	Gets array containing x,y,z components of estimated accelerometer biases expressed in meters per squared second (m/s^2).
com.irurueta.algebra.Matrix	getEstimatedMa()	Gets estimated accelerometer scale factors and cross coupling errors.

Method Details

getEstimatedBiases

double[] getEstimatedBiases()

Gets array containing x,y,z components of estimated accelerometer biases expressed in meters per squared second (m/s^2).

Returns:

array containing x,y,z components of estimated accelerometer biases.

getEstimatedMa

com.irurueta.algebra.Matrix getEstimatedMa()

Gets estimated accelerometer scale factors and cross coupling errors. This is the product of matrix Ta containing cross coupling errors and Ka containing scaling factors. So tat:

     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.

Returns:

estimated accelerometer scale factors and cross coupling errors, or null if not available.