Package com.irurueta.navigation.inertial.calibration

Interface GyroscopeCalibrationSource

All Known Implementing Classes:

EasyGyroscopeCalibrator, KnownFrameGyroscopeLinearLeastSquaresCalibrator, KnownFrameGyroscopeNonLinearLeastSquaresCalibrator, LMedSRobustEasyGyroscopeCalibrator, LMedSRobustKnownFrameGyroscopeCalibrator, LMedSRobustTurntableGyroscopeCalibrator, MSACRobustEasyGyroscopeCalibrator, MSACRobustKnownFrameGyroscopeCalibrator, MSACRobustTurntableGyroscopeCalibrator, PROMedSRobustEasyGyroscopeCalibrator, PROMedSRobustKnownFrameGyroscopeCalibrator, PROMedSRobustTurntableGyroscopeCalibrator, PROSACRobustEasyGyroscopeCalibrator, PROSACRobustKnownFrameGyroscopeCalibrator, PROSACRobustTurntableGyroscopeCalibrator, RANSACRobustEasyGyroscopeCalibrator, RANSACRobustKnownFrameGyroscopeCalibrator, RANSACRobustTurntableGyroscopeCalibrator, RobustEasyGyroscopeCalibrator, RobustKnownFrameGyroscopeCalibrator, RobustTurntableGyroscopeCalibrator, TurntableGyroscopeCalibrator

public interface GyroscopeCalibrationSource

Defines a source for estimated gyroscope calibration data.

Method Summary

Modifier and Type	Method	Description
double[]	getEstimatedBiases()	Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
com.irurueta.algebra.Matrix	getEstimatedGg()	Gets estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
com.irurueta.algebra.Matrix	getEstimatedMg()	Gets estimated gyroscope scale factors and cross coupling errors.

Method Details

getEstimatedBiases

double[] getEstimatedBiases()

Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).

Returns:

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

getEstimatedMg

com.irurueta.algebra.Matrix getEstimatedMg()

Gets estimated gyroscope 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          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
 

Hence:

     Mg = [sx    mxy  mxz] = Tg*Kg =  [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 gyroscope z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix becomes upper diagonal:

     Mg = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
 

Values of this matrix are unit-less.

Returns:

estimated gyroscope scale factors and cross coupling errors.

getEstimatedGg

com.irurueta.algebra.Matrix getEstimatedGg()

Gets estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

Returns:

a 3x3 matrix containing g-dependent cross biases.