Package com.irurueta.navigation.inertial.calibration.accelerometer

Interface AccelerometerNonLinearCalibrator

All Superinterfaces:

AccelerometerCalibrator

All Known Implementing Classes:

BaseBiasGravityNormAccelerometerCalibrator, BaseGravityNormAccelerometerCalibrator, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator, KnownBiasAndGravityNormAccelerometerCalibrator, KnownBiasAndPositionAccelerometerCalibrator, KnownFrameAccelerometerNonLinearLeastSquaresCalibrator, KnownGravityNormAccelerometerCalibrator, KnownPositionAccelerometerCalibrator, LMedSRobustKnownBiasAndFrameAccelerometerCalibrator, LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator, LMedSRobustKnownBiasAndPositionAccelerometerCalibrator, LMedSRobustKnownFrameAccelerometerCalibrator, LMedSRobustKnownGravityNormAccelerometerCalibrator, LMedSRobustKnownPositionAccelerometerCalibrator, MSACRobustKnownBiasAndFrameAccelerometerCalibrator, MSACRobustKnownBiasAndGravityNormAccelerometerCalibrator, MSACRobustKnownBiasAndPositionAccelerometerCalibrator, MSACRobustKnownFrameAccelerometerCalibrator, MSACRobustKnownGravityNormAccelerometerCalibrator, MSACRobustKnownPositionAccelerometerCalibrator, PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator, PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator, PROMedSRobustKnownBiasAndPositionAccelerometerCalibrator, PROMedSRobustKnownFrameAccelerometerCalibrator, PROMedSRobustKnownGravityNormAccelerometerCalibrator, PROMedSRobustKnownPositionAccelerometerCalibrator, PROSACRobustKnownBiasAndFrameAccelerometerCalibrator, PROSACRobustKnownBiasAndGravityNormAccelerometerCalibrator, PROSACRobustKnownBiasAndPositionAccelerometerCalibrator, PROSACRobustKnownFrameAccelerometerCalibrator, PROSACRobustKnownGravityNormAccelerometerCalibrator, PROSACRobustKnownPositionAccelerometerCalibrator, RANSACRobustKnownBiasAndFrameAccelerometerCalibrator, RANSACRobustKnownBiasAndGravityNormAccelerometerCalibrator, RANSACRobustKnownBiasAndPositionAccelerometerCalibrator, RANSACRobustKnownFrameAccelerometerCalibrator, RANSACRobustKnownGravityNormAccelerometerCalibrator, RANSACRobustKnownPositionAccelerometerCalibrator, RobustKnownBiasAndFrameAccelerometerCalibrator, RobustKnownBiasAndGravityNormAccelerometerCalibrator, RobustKnownBiasAndPositionAccelerometerCalibrator, RobustKnownFrameAccelerometerCalibrator, RobustKnownGravityNormAccelerometerCalibrator, RobustKnownPositionAccelerometerCalibrator

public interface AccelerometerNonLinearCalibrator
extends AccelerometerCalibrator

Interface for non-linear accelerometer calibrators.

Method Summary

Modifier and Type	Method	Description
double	getEstimatedChiSq()	Gets estimated chi square value.
int	getEstimatedChiSqDegreesOfFreedom()	Gets estimated chi square degrees of freedom.
com.irurueta.algebra.Matrix	getEstimatedCovariance()	Gets estimated covariance matrix for estimated position.
double	getEstimatedMse()	Gets estimated mean square error respect to provided measurements.
double	getEstimatedP()	Gets estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0.
double	getEstimatedQ()	Gets estimated measure of quality of estimated fit as a value between 0.0 and 1.0.
double	getEstimatedReducedChiSq()	Gets estimated reduced chi square value.
com.irurueta.algebra.Matrix	getInitialMa()	Gets initial scale factors and cross coupling errors matrix.
void	getInitialMa(com.irurueta.algebra.Matrix result)	Gets initial scale factors and cross coupling errors matrix.
double	getInitialMxy()	Gets initial x-y cross coupling error.
double	getInitialMxz()	Gets initial x-z cross coupling error.
double	getInitialMyx()	Gets initial y-x cross coupling error.
double	getInitialMyz()	Gets initial y-z cross coupling error.
double	getInitialMzx()	Gets initial z-x cross coupling error.
double	getInitialMzy()	Gets initial z-y cross coupling error.
double	getInitialSx()	Gets initial x scaling factor.
double	getInitialSy()	Gets initial y scaling factor.
double	getInitialSz()	Gets initial z scaling factor.
void	setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial cross coupling errors.
void	setInitialMa(com.irurueta.algebra.Matrix initialMa)	Sets initial scale factors and cross coupling errors matrix.
void	setInitialMxy(double initialMxy)	Sets initial x-y cross coupling error.
void	setInitialMxz(double initialMxz)	Sets initial x-z cross coupling error.
void	setInitialMyx(double initialMyx)	Sets initial y-x cross coupling error.
void	setInitialMyz(double initialMyz)	Sets initial y-z cross coupling error.
void	setInitialMzx(double initialMzx)	Sets initial z-x cross coupling error.
void	setInitialMzy(double initialMzy)	Sets initial z-y cross coupling error.
void	setInitialScalingFactors(double initialSx, double initialSy, double initialSz)	Sets initial scaling factors.
void	setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial scaling factors and cross coupling errors.
void	setInitialSx(double initialSx)	Sets initial x scaling factor.
void	setInitialSy(double initialSy)	Sets initial y scaling factor.
void	setInitialSz(double initialSz)	Sets initial z scaling factor.

Methods inherited from interface com.irurueta.navigation.inertial.calibration.accelerometer.AccelerometerCalibrator

calibrate, getEstimatedMa, getEstimatedMxy, getEstimatedMxz, getEstimatedMyx, getEstimatedMyz, getEstimatedMzx, getEstimatedMzy, getEstimatedSx, getEstimatedSy, getEstimatedSz, getMeasurementType, getMinimumRequiredMeasurements, isCommonAxisUsed, isOrderedMeasurementsRequired, isQualityScoresRequired, isReady, isRunning, setCommonAxisUsed

Method Details

getInitialSx

double getInitialSx()

Gets initial x scaling factor.

Returns:

initial x scaling factor.

setInitialSx

void setInitialSx(double initialSx)
           throws com.irurueta.navigation.LockedException

Sets initial x scaling factor.

Parameters:

initialSx - initial x scaling factor.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

getInitialSy

double getInitialSy()

Gets initial y scaling factor.

Returns:

initial y scaling factor.

setInitialSy

void setInitialSy(double initialSy)
           throws com.irurueta.navigation.LockedException

Sets initial y scaling factor.

Parameters:

initialSy - initial y scaling factor.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

getInitialSz

double getInitialSz()

Gets initial z scaling factor.

Returns:

initial z scaling factor.

setInitialSz

void setInitialSz(double initialSz)
           throws com.irurueta.navigation.LockedException

Sets initial z scaling factor.

Parameters:

initialSz - initial z scaling factor.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

getInitialMxy

double getInitialMxy()

Gets initial x-y cross coupling error.

Returns:

initial x-y cross coupling error.

setInitialMxy

void setInitialMxy(double initialMxy)
            throws com.irurueta.navigation.LockedException

Sets initial x-y cross coupling error.

Parameters:

initialMxy - initial x-y cross coupling error.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

getInitialMxz

double getInitialMxz()

Gets initial x-z cross coupling error.

Returns:

initial x-z cross coupling error.

setInitialMxz

void setInitialMxz(double initialMxz)
            throws com.irurueta.navigation.LockedException

Sets initial x-z cross coupling error.

Parameters:

initialMxz - initial x-z cross coupling error.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

getInitialMyx

double getInitialMyx()

Gets initial y-x cross coupling error.

Returns:

initial y-x cross coupling error.

setInitialMyx

void setInitialMyx(double initialMyx)
            throws com.irurueta.navigation.LockedException

Sets initial y-x cross coupling error.

Parameters:

initialMyx - initial y-x cross coupling error.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

getInitialMyz

double getInitialMyz()

Gets initial y-z cross coupling error.

Returns:

initial y-z cross coupling error.

setInitialMyz

void setInitialMyz(double initialMyz)
            throws com.irurueta.navigation.LockedException

Sets initial y-z cross coupling error.

Parameters:

initialMyz - initial y-z cross coupling error.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

getInitialMzx

double getInitialMzx()

Gets initial z-x cross coupling error.

Returns:

initial z-x cross coupling error.

setInitialMzx

void setInitialMzx(double initialMzx)
            throws com.irurueta.navigation.LockedException

Sets initial z-x cross coupling error.

Parameters:

initialMzx - initial z-x cross coupling error.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

getInitialMzy

double getInitialMzy()

Gets initial z-y cross coupling error.

Returns:

initial z-y cross coupling error.

setInitialMzy

void setInitialMzy(double initialMzy)
            throws com.irurueta.navigation.LockedException

Sets initial z-y cross coupling error.

Parameters:

initialMzy - initial z-y cross coupling error.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

setInitialScalingFactors

void setInitialScalingFactors(double initialSx,
 double initialSy,
 double initialSz)
                       throws com.irurueta.navigation.LockedException

Sets initial scaling factors.

Parameters:

initialSx - initial x scaling factor.

initialSy - initial y scaling factor.

initialSz - initial z scaling factor.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

setInitialCrossCouplingErrors

void setInitialCrossCouplingErrors(double initialMxy,
 double initialMxz,
 double initialMyx,
 double initialMyz,
 double initialMzx,
 double initialMzy)
                            throws com.irurueta.navigation.LockedException

Sets initial cross coupling errors.

Parameters:

initialMxy - initial x-y cross coupling error.

initialMxz - initial x-z cross coupling error.

initialMyx - initial y-x cross coupling error.

initialMyz - initial y-z cross coupling error.

initialMzx - initial z-x cross coupling error.

initialMzy - initial z-y cross coupling error.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

setInitialScalingFactorsAndCrossCouplingErrors

void setInitialScalingFactorsAndCrossCouplingErrors(double initialSx,
 double initialSy,
 double initialSz,
 double initialMxy,
 double initialMxz,
 double initialMyx,
 double initialMyz,
 double initialMzx,
 double initialMzy)
                                             throws com.irurueta.navigation.LockedException

Sets initial scaling factors and cross coupling errors.

Parameters:

initialSx - initial x scaling factor.

initialSy - initial y scaling factor.

initialSz - initial z scaling factor.

initialMxy - initial x-y cross coupling error.

initialMxz - initial x-z cross coupling error.

initialMyx - initial y-x cross coupling error.

initialMyz - initial y-z cross coupling error.

initialMzx - initial z-x cross coupling error.

initialMzy - initial z-y cross coupling error.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

getInitialMa

com.irurueta.algebra.Matrix getInitialMa()

Gets initial scale factors and cross coupling errors matrix.

Returns:

initial scale factors and cross coupling errors matrix.

getInitialMa

void getInitialMa(com.irurueta.algebra.Matrix result)

Gets initial scale factors and cross coupling errors matrix.

Parameters:

result - instance where data will be stored.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

setInitialMa

void setInitialMa(com.irurueta.algebra.Matrix initialMa)
           throws com.irurueta.navigation.LockedException

Sets initial scale factors and cross coupling errors matrix.

Parameters:

initialMa - initial scale factors and cross coupling errors matrix.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

com.irurueta.navigation.LockedException - if calibrator is currently running.

getEstimatedCovariance

com.irurueta.algebra.Matrix getEstimatedCovariance()

Gets estimated covariance matrix for estimated position.

Returns:

estimated covariance matrix for estimated position.

getEstimatedChiSq

double getEstimatedChiSq()

Gets estimated chi square value.

Returns:

estimated chi square value.

getEstimatedChiSqDegreesOfFreedom

int getEstimatedChiSqDegreesOfFreedom()

Gets estimated chi square degrees of freedom. Degrees of freedom is equal to the number of sampled data minus the number of estimated parameters.

Returns:

estimated degrees of freedom of chi square value

getEstimatedReducedChiSq

double getEstimatedReducedChiSq()

Gets estimated reduced chi square value. This is equal to estimated chi square value divided by its degrees of freedom. Ideally this value should be close to 1.0, indicating that fit is optimal. A value larger than 1.0 indicates that fit is not good or noise has been underestimated, and a value smaller than 1.0 indicates that there is overfitting or noise has been overestimated.

Returns:

estimated reduced chi square value

getEstimatedMse

double getEstimatedMse()

Gets estimated mean square error respect to provided measurements.

Returns:

estimated mean square error respect to provided measurements.

getEstimatedP

double getEstimatedP()

Gets estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0. The smaller the found chi square value is, the better the fit of the estimated parameters to the actual parameter. Thus, the smaller the chance of finding a smaller chi square value, then the better the estimated fit is.

Returns:

estimated probability of finding a smaller chi square value or null if there were numerical unstabilities to compute such value.

getEstimatedQ

double getEstimatedQ()

Gets estimated measure of quality of estimated fit as a value between 0.0 and 1.0. The larger the quality value is, the better the fit that has been estimated.

Returns:

estimated measure of quality of estimated fit.