Package com.irurueta.navigation.inertial.calibration

Class IMUErrorsCreator

java.lang.Object

com.irurueta.navigation.inertial.calibration.IMUErrorsCreator

public class IMUErrorsCreator
extends Object

Utility class to create IMUErrors by combining different sources of estimated data. Sources of data can be any accelerometer calibrator implementing AccelerometerCalibrationSource, any gyroscope calibrator implementing GyroscopeCalibrationSource, or any measurement generator, static interval detector or noise estimator implementing AccelerometerNoiseRootPsdSource or GyroscopeNoiseRootPsdSource.

Field Summary

Fields

Modifier and Type	Field	Description
private AccelerometerCalibrationSource	accelerometerCalibrationSource	A source of estimated accelerometer calibration parameters.
private AccelerometerNoiseRootPsdSource	accelerometerNoiseRootPsdSource	A source of estimated accelerometer noise root PSD.
private double	accelerometerQuantizationLevel	Accelerometer quantization level expressed in meters per squared second (m/s^2).
private double	gyroQuantizationLevel	Gyro quantization level expressed in radians per second (rad/s).
private GyroscopeCalibrationSource	gyroscopeCalibrationSource	A source of estimated gyroscope calibration parameters.
private GyroscopeNoiseRootPsdSource	gyroscopeNoiseRootPsdSource	A source of estimated gyroscope noise root PSD.

Constructor Summary

Constructors

Constructor	Description
IMUErrorsCreator()	Constructor.
IMUErrorsCreator(AccelerometerCalibrationSource accelerometerCalibrationSource, GyroscopeCalibrationSource gyroscopeCalibrationSource, AccelerometerNoiseRootPsdSource accelerometerNoiseRootPsdSource, GyroscopeNoiseRootPsdSource gyroscopeNoiseRootPsdSource)	Constructor.
IMUErrorsCreator(AccelerometerCalibrationSource accelerometerCalibrationSource, GyroscopeCalibrationSource gyroscopeCalibrationSource, AccelerometerNoiseRootPsdSource accelerometerNoiseRootPsdSource, GyroscopeNoiseRootPsdSource gyroscopeNoiseRootPsdSource, double accelerometerQuantizationLevel, double gyroQuantizationLevel)	Constructor.

Method Summary

Modifier and Type	Method	Description
IMUErrors	create()	Creates an IMUErrors instance containing estimated IMU (accelerometer + gyroscope) parameters.
AccelerometerCalibrationSource	getAccelerometerCalibrationSource()	Gets source of estimated accelerometer calibration parameters.
AccelerometerNoiseRootPsdSource	getAccelerometerNoiseRootPsdSource()	Gets source of estimated accelerometer noise root PSD.
double	getAccelerometerQuantizationLevel()	Gets accelerometer quantization level expressed in meters per squared second (m/s^2).
double	getGyroQuantizationLevel()	Gets gyroscope quantization level expressed in radians per second (rad/s).
GyroscopeCalibrationSource	getGyroscopeCalibrationSource()	Gets source of estimated gyroscope calibration parameters.
GyroscopeNoiseRootPsdSource	getGyroscopeNoiseRootPsdSource()	Gets source of estimated gyroscope noise root PSD.
boolean	isReady()	Indicates whether all sources have been provided in order to be able to create an IMUErrors instance.
void	setAccelerometerCalibrationSource(AccelerometerCalibrationSource accelerometerCalibrationSource)	Sets source of estimated accelerometer calibration parameters.
void	setAccelerometerNoiseRootPsdSource(AccelerometerNoiseRootPsdSource accelerometerNoiseRootPsdSource)	Sets source of estimated accelerometer noise root PSD.
void	setAccelerometerQuantizationLevel(double accelerometerQuantizationLevel)	Sets accelerometer quantization level expressed in meters per squared second (m/s^2).
void	setGyroQuantizationLevel(double gyroQuantizationLevel)	Sets gyroscope quantization level expressed in radians per second (rad/s).
void	setGyroscopeCalibrationSource(GyroscopeCalibrationSource gyroscopeCalibrationSource)	Sets source of estimated gyroscope calibration parameters.
void	sstGyroscopeNoiseRootPsdSource(GyroscopeNoiseRootPsdSource gyroscopeNoiseRootPsdSource)	Sets source of estimated gyroscope noise root PSD.

Methods inherited from class java.lang.Object

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

Field Details

accelerometerCalibrationSource

private AccelerometerCalibrationSource accelerometerCalibrationSource

A source of estimated accelerometer calibration parameters.

gyroscopeCalibrationSource

private GyroscopeCalibrationSource gyroscopeCalibrationSource

A source of estimated gyroscope calibration parameters.

accelerometerNoiseRootPsdSource

private AccelerometerNoiseRootPsdSource accelerometerNoiseRootPsdSource

A source of estimated accelerometer noise root PSD.

gyroscopeNoiseRootPsdSource

private GyroscopeNoiseRootPsdSource gyroscopeNoiseRootPsdSource

A source of estimated gyroscope noise root PSD.

accelerometerQuantizationLevel

private double accelerometerQuantizationLevel

Accelerometer quantization level expressed in meters per squared second (m/s^2). By default, it is zero when no quantization is assumed.

gyroQuantizationLevel

private double gyroQuantizationLevel

Gyro quantization level expressed in radians per second (rad/s). By default, it is zero when no quantization is assumed.

Constructor Details

IMUErrorsCreator

public IMUErrorsCreator()

Constructor.

IMUErrorsCreator

public IMUErrorsCreator(AccelerometerCalibrationSource accelerometerCalibrationSource,
 GyroscopeCalibrationSource gyroscopeCalibrationSource,
 AccelerometerNoiseRootPsdSource accelerometerNoiseRootPsdSource,
 GyroscopeNoiseRootPsdSource gyroscopeNoiseRootPsdSource)

Constructor.

Parameters:

accelerometerCalibrationSource - A source of estimated accelerometer calibration parameters.

gyroscopeCalibrationSource - A source of estimated gyroscope calibration parameters.

accelerometerNoiseRootPsdSource - A source of estimated accelerometer noise root PSD.

gyroscopeNoiseRootPsdSource - A source of estimated gyroscope noise root PSD.

IMUErrorsCreator

public IMUErrorsCreator(AccelerometerCalibrationSource accelerometerCalibrationSource,
 GyroscopeCalibrationSource gyroscopeCalibrationSource,
 AccelerometerNoiseRootPsdSource accelerometerNoiseRootPsdSource,
 GyroscopeNoiseRootPsdSource gyroscopeNoiseRootPsdSource,
 double accelerometerQuantizationLevel,
 double gyroQuantizationLevel)

Constructor.

Parameters:

accelerometerCalibrationSource - A source of estimated accelerometer calibration parameters.

gyroscopeCalibrationSource - A source of estimated gyroscope calibration parameters.

accelerometerNoiseRootPsdSource - A source of estimated accelerometer noise root PSD.

gyroscopeNoiseRootPsdSource - A source of estimated gyroscope noise root PSD.

accelerometerQuantizationLevel - Accelerometer quantization level expressed in meters per squared second (m/s^2).

gyroQuantizationLevel - Gyro quantization level expressed in radians per second (rad/s).

Method Details

getAccelerometerCalibrationSource

public AccelerometerCalibrationSource getAccelerometerCalibrationSource()

Gets source of estimated accelerometer calibration parameters.

Returns:

source of estimated accelerometer calibration parameters.

setAccelerometerCalibrationSource

public void setAccelerometerCalibrationSource(AccelerometerCalibrationSource accelerometerCalibrationSource)

Sets source of estimated accelerometer calibration parameters.

Parameters:

accelerometerCalibrationSource - source of estimated accelerometer parameters.

getGyroscopeCalibrationSource

public GyroscopeCalibrationSource getGyroscopeCalibrationSource()

Gets source of estimated gyroscope calibration parameters.

Returns:

source of estimated gyroscope calibration parameters.

setGyroscopeCalibrationSource

public void setGyroscopeCalibrationSource(GyroscopeCalibrationSource gyroscopeCalibrationSource)

Sets source of estimated gyroscope calibration parameters.

Parameters:

gyroscopeCalibrationSource - source of estimated gyroscope calibration parameters.

getAccelerometerNoiseRootPsdSource

public AccelerometerNoiseRootPsdSource getAccelerometerNoiseRootPsdSource()

Gets source of estimated accelerometer noise root PSD.

Returns:

source of estimated accelerometer noise root PSD.

setAccelerometerNoiseRootPsdSource

public void setAccelerometerNoiseRootPsdSource(AccelerometerNoiseRootPsdSource accelerometerNoiseRootPsdSource)

Sets source of estimated accelerometer noise root PSD.

Parameters:

accelerometerNoiseRootPsdSource - source of estimated accelerometer noise root PSD.

getGyroscopeNoiseRootPsdSource

public GyroscopeNoiseRootPsdSource getGyroscopeNoiseRootPsdSource()

Gets source of estimated gyroscope noise root PSD.

Returns:

source of estimated gyroscope noise root PSD.

sstGyroscopeNoiseRootPsdSource

public void sstGyroscopeNoiseRootPsdSource(GyroscopeNoiseRootPsdSource gyroscopeNoiseRootPsdSource)

Sets source of estimated gyroscope noise root PSD.

Parameters:

gyroscopeNoiseRootPsdSource - source of estimated gyroscope noise root PSD.

getAccelerometerQuantizationLevel

public double getAccelerometerQuantizationLevel()

Gets accelerometer quantization level expressed in meters per squared second (m/s^2). By default it is zero when no quantization is assumed.

Returns:

accelerometer quantization level.

setAccelerometerQuantizationLevel

public void setAccelerometerQuantizationLevel(double accelerometerQuantizationLevel)

Sets accelerometer quantization level expressed in meters per squared second (m/s^2).

Parameters:

accelerometerQuantizationLevel - accelerometer quantization level.

getGyroQuantizationLevel

public double getGyroQuantizationLevel()

Gets gyroscope quantization level expressed in radians per second (rad/s). By default it is zero when no quantization is assumed.

Returns:

gyroscope quantization level.

setGyroQuantizationLevel

public void setGyroQuantizationLevel(double gyroQuantizationLevel)

Sets gyroscope quantization level expressed in radians per second (rad/s).

Parameters:

gyroQuantizationLevel - gyroscope quantization level.

isReady

public boolean isReady()

Indicates whether all sources have been provided in order to be able to create an IMUErrors instance.

Returns:

true if creator is ready, false otherwise.

create

public IMUErrors create()
                 throws com.irurueta.navigation.NotReadyException

Creates an IMUErrors instance containing estimated IMU (accelerometer + gyroscope) parameters.

Returns:

instance containing estimated IMU parameters.

Throws:

com.irurueta.navigation.NotReadyException - if creator is not ready.