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

Class RobustKnownGravityNormAccelerometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownGravityNormAccelerometerCalibrator
All Implemented Interfaces:
AccelerometerCalibrator, AccelerometerNonLinearCalibrator, OrderedStandardDeviationBodyKinematicsAccelerometerCalibrator, QualityScoredAccelerometerCalibrator, UnknownBiasAccelerometerCalibrator, UnknownBiasNonLinearAccelerometerCalibrator, AccelerometerBiasUncertaintySource, AccelerometerCalibrationSource
Direct Known Subclasses:
LMedSRobustKnownGravityNormAccelerometerCalibrator, MSACRobustKnownGravityNormAccelerometerCalibrator, PROMedSRobustKnownGravityNormAccelerometerCalibrator, PROSACRobustKnownGravityNormAccelerometerCalibrator, RANSACRobustKnownGravityNormAccelerometerCalibrator
public abstract class RobustKnownGravityNormAccelerometerCalibrator extends Object implements AccelerometerNonLinearCalibrator, UnknownBiasNonLinearAccelerometerCalibrator, AccelerometerCalibrationSource, AccelerometerBiasUncertaintySource, OrderedStandardDeviationBodyKinematicsAccelerometerCalibrator, QualityScoredAccelerometerCalibrator
This is an abstract class to robustly estimate accelerometer biases, cross couplings and scaling factors.

To use this calibrator at least 10 measurements taken at a single position where gravity norm is known must be taken at 10 different unknown orientations and zero velocity when common z-axis is assumed, otherwise at least 13 measurements are required.

Measured specific force is assumed to follow the model shown below: 

     fmeas = ba + (I + Ma) * ftrue + w
Where: - fmeas is the measured specific force. This is a 3x1 vector. - ba is accelerometer bias. Ideally, on a perfect accelerometer, this should be a 3x1 zero vector. - I is the 3x3 identity matrix. - Ma is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on a perfect accelerometer, this should be a 3x3 zero matrix. - ftrue is ground-truth specific force. - w is measurement noise.

  • Field Details

    • DEFAULT_USE_COMMON_Z_AXIS

      public static final boolean DEFAULT_USE_COMMON_Z_AXIS
      Indicates whether by default a common z-axis is assumed for both the accelerometer and gyroscope.
      See Also:

    • MINIMUM_MEASUREMENTS_COMMON_Z_AXIS

      public static final int MINIMUM_MEASUREMENTS_COMMON_Z_AXIS
      Required minimum number of measurements when common z-axis is assumed.
      See Also:

    • MINIMUM_MEASUREMENTS_GENERAL

      public static final int MINIMUM_MEASUREMENTS_GENERAL
      Required minimum number of measurements for the general case.
      See Also:

    • DEFAULT_ROBUST_METHOD

      public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD
      Default robust estimator method when none is provided.

    • DEFAULT_REFINE_RESULT

      public static final boolean DEFAULT_REFINE_RESULT
      Indicates that result is refined by default.
      See Also:

    • DEFAULT_KEEP_COVARIANCE

      public static final boolean DEFAULT_KEEP_COVARIANCE
      Indicates that covariance is kept by default after refining result.
      See Also:

    • DEFAULT_PROGRESS_DELTA

      public static final float DEFAULT_PROGRESS_DELTA
      Default amount of progress variation before notifying a change in estimation progress. By default this is set to 5%.
      See Also:

    • MIN_PROGRESS_DELTA

      public static final float MIN_PROGRESS_DELTA
      Minimum allowed value for progress delta.
      See Also:

    • MAX_PROGRESS_DELTA

      public static final float MAX_PROGRESS_DELTA
      Maximum allowed value for progress delta.
      See Also:

    • DEFAULT_CONFIDENCE

      public static final double DEFAULT_CONFIDENCE
      Constant defining default confidence of the estimated result, which is 99%. This means that with a probability of 99% estimation will be accurate because chosen sub-samples will be inliers.
      See Also:

    • DEFAULT_MAX_ITERATIONS

      public static final int DEFAULT_MAX_ITERATIONS
      Default maximum allowed number of iterations.
      See Also:

    • MIN_CONFIDENCE

      public static final double MIN_CONFIDENCE
      Minimum allowed confidence value.
      See Also:

    • MAX_CONFIDENCE

      public static final double MAX_CONFIDENCE
      Maximum allowed confidence value.
      See Also:

    • MIN_ITERATIONS

      public static final int MIN_ITERATIONS
      Minimum allowed number of iterations.
      See Also:

    • measurements

      protected List<StandardDeviationBodyKinematics> measurements
      Contains a list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

    • listener

      protected RobustKnownGravityNormAccelerometerCalibratorListener listener
      Listener to be notified of events such as when calibration starts, ends or its progress significantly changes.

    • running

      protected boolean running
      Indicates whether calibrator is running.

    • progressDelta

      protected float progressDelta
      Amount of progress variation before notifying a progress change during calibration.

    • confidence

      protected double confidence
      Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.

    • maxIterations

      protected int maxIterations
      Maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.

    • inliersData

      protected com.irurueta.numerical.robust.InliersData inliersData
      Data related to inliers found after calibration.

    • refineResult

      protected boolean refineResult
      Indicates whether result must be refined using a non linear calibrator over found inliers. If true, inliers will be computed and kept in any implementation regardless of the settings.

    • preliminarySubsetSize

      protected int preliminarySubsetSize
      Size of subsets to be checked during robust estimation.

    • commonAxisUsed

      private boolean commonAxisUsed
      This flag indicates whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.

    • initialBiasX

      private double initialBiasX
      Initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • initialBiasY

      private double initialBiasY
      Initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • initialBiasZ

      private double initialBiasZ
      Initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • initialSx

      private double initialSx
      Initial x scaling factor.

    • initialSy

      private double initialSy
      Initial y scaling factor.

    • initialSz

      private double initialSz
      Initial z scaling factor.

    • initialMxy

      private double initialMxy
      Initial x-y cross coupling error.

    • initialMxz

      private double initialMxz
      Initial x-z cross coupling error.

    • initialMyx

      private double initialMyx
      Initial y-x cross coupling error.

    • initialMyz

      private double initialMyz
      Initial y-z cross coupling error.

    • initialMzx

      private double initialMzx
      Initial z-x cross coupling error.

    • initialMzy

      private double initialMzy
      Initial z-y cross coupling error.

    • groundTruthGravityNorm

      protected Double groundTruthGravityNorm
      Ground truth gravity norm to be expected at location where measurements have been made, expressed in meters per squared second (m/s^2).

    • estimatedBiases

      private double[] estimatedBiases
      Estimated accelerometer biases for each IMU axis expressed in meter per squared second (m/s^2).

    • estimatedMa

      private com.irurueta.algebra.Matrix estimatedMa
      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.

    • keepCovariance

      private boolean keepCovariance
      Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.

    • estimatedCovariance

      private com.irurueta.algebra.Matrix estimatedCovariance
      Estimated covariance of estimated position. This is only available when result has been refined and covariance is kept.

    • estimatedChiSq

      private double estimatedChiSq
      Estimated chi square value.

    • estimatedMse

      private double estimatedMse
      Estimated mean square error respect to provided measurements.

    • estimatedChiSqDegreesOfFreedom

      private int estimatedChiSqDegreesOfFreedom
      Estimated degrees of freedom of chi square value. Degrees of freedom is equal to the number of sampled data minus the number of estimated parameters.

    • estimatedReducedChiSq

      private double estimatedReducedChiSq
      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.

    • estimatedP

      private double estimatedP
      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.

    • estimatedQ

      private double estimatedQ
      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.

    • innerCalibrator

      private final KnownGravityNormAccelerometerCalibrator innerCalibrator
      Inner calibrator to compute calibration for each subset of data or during final refining.

    • identity

      protected com.irurueta.algebra.Matrix identity
      Contains 3x3 identify to be reused.

    • tmp1

      protected com.irurueta.algebra.Matrix tmp1
      Contains 3x3 temporary matrix.

    • tmp2

      protected com.irurueta.algebra.Matrix tmp2
      Contains 3x3 temporary matrix.

    • tmp3

      protected com.irurueta.algebra.Matrix tmp3
      Contains 3x1 temporary matrix.

    • tmp4

      protected com.irurueta.algebra.Matrix tmp4
      Contains 3x1 temporary matrix.

  • Constructor Details

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator()
      Constructor.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(List<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(double[] initialBias)
      Constructor.
      Parameters:
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • RobustKnownGravityNormAccelerometerCalibrator

      protected RobustKnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

  • Method Details

    • getInitialBiasX

      public double getInitialBiasX()
      Gets initial x-coordinate of accelerometer bias to be used to find a solutions. This is expressed in meters per squared second (m/s^2) and only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialBiasX in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial x-coordinate of accelerometer bias.

    • setInitialBiasX

      public void setInitialBiasX(double initialBiasX) throws com.irurueta.navigation.LockedException
      Sets initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2) and only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialBiasX in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasY

      public double getInitialBiasY()
      Gets initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2) and only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialBiasY in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial y-coordinate of accelerometer bias.

    • setInitialBiasY

      public void setInitialBiasY(double initialBiasY) throws com.irurueta.navigation.LockedException
      Sets initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2) and only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialBiasY in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasY - initial y-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasZ

      public double getInitialBiasZ()
      Gets initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2) and only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialBiasZ in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial z-coordinate of accelerometer bias.

    • setInitialBiasZ

      public void setInitialBiasZ(double initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2) and only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialBiasZ in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasZ - initial z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasXAsAcceleration

      public com.irurueta.units.Acceleration getInitialBiasXAsAcceleration()
      Gets initial x-coordinate of accelerometer bias to be used to find a solution. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialBiasXAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial x-coordinate of accelerometer bias.

    • getInitialBiasXAsAcceleration

      public void getInitialBiasXAsAcceleration(com.irurueta.units.Acceleration result)
      Gets initial x-coordinate of accelerometer bias to be used to find a solution. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialBiasXAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setInitialBiasX

      public void setInitialBiasX(com.irurueta.units.Acceleration initialBiasX) throws com.irurueta.navigation.LockedException
      Sets initial x-coordinate of accelerometer bias to be used to find a solution. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialBiasX in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasYAsAcceleration

      public com.irurueta.units.Acceleration getInitialBiasYAsAcceleration()
      Gets initial y-coordinate of accelerometer bias to be used to find a solution. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialBiasYAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial y-coordinate of accelerometer bias.

    • getInitialBiasYAsAcceleration

      public void getInitialBiasYAsAcceleration(com.irurueta.units.Acceleration result)
      Gets initial y-coordinate of accelerometer bias to be used to find a solution. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialBiasYAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setInitialBiasY

      public void setInitialBiasY(com.irurueta.units.Acceleration initialBiasY) throws com.irurueta.navigation.LockedException
      Sets initial y-coordinate of accelerometer bias to be used to find a solution. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialBiasY in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasY - initial y-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasZAsAcceleration

      public com.irurueta.units.Acceleration getInitialBiasZAsAcceleration()
      Gets initial z-coordinate of accelerometer bias to be used to find a solution. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialBiasZAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial z-coordinate of accelerometer bias.

    • getInitialBiasZAsAcceleration

      public void getInitialBiasZAsAcceleration(com.irurueta.units.Acceleration result)
      Gets initial z-coordinate of accelerometer bias to be used to find a solution. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialBiasZAsAcceleration in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setInitialBiasZ

      public void setInitialBiasZ(com.irurueta.units.Acceleration initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial z-coordinate of accelerometer bias to be used to find a solution. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialBiasZ in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasZ - initial z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialBias

      public void setInitialBias(double initialBiasX, double initialBiasY, double initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial bias coordinates of accelerometer used to find a solution expressed in meters per squared second (m/s^2). This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias.
      initialBiasY - initial y-coordinate of accelerometer bias.
      initialBiasZ - initial z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialBias

      public void setInitialBias(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ) throws com.irurueta.navigation.LockedException
      Sets initial bias coordinates of accelerometer used to find a solution. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias.
      initialBiasY - initial y-coordinate of accelerometer bias.
      initialBiasZ - initial z-coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialBiasAsTriad

      public AccelerationTriad getInitialBiasAsTriad()
      Gets initial bias coordinates of accelerometer used to find a solution.
      Specified by:
      getInitialBiasAsTriad in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial bias coordinates.

    • getInitialBiasAsTriad

      public void getInitialBiasAsTriad(AccelerationTriad result)
      Gets initial bias coordinates of accelerometer used to find a solution.
      Specified by:
      getInitialBiasAsTriad in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setInitialBias

      public void setInitialBias(AccelerationTriad initialBias)
      Sets initial bias coordinates of accelerometer used to find a solution.
      Specified by:
      setInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBias - initial bias coordinates to be set.

    • getInitialSx

      public double getInitialSx()
      Gets initial x scaling factor. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialSx in interface AccelerometerNonLinearCalibrator
      Returns:
      initial x scaling factor.

    • setInitialSx

      public void setInitialSx(double initialSx) throws com.irurueta.navigation.LockedException
      Sets initial x scaling factor. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialSx in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSy

      public double getInitialSy()
      Gets initial y scaling factor. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialSy in interface AccelerometerNonLinearCalibrator
      Returns:
      initial y scaling factor.

    • setInitialSy

      public void setInitialSy(double initialSy) throws com.irurueta.navigation.LockedException
      Sets initial y scaling factor. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialSy in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialSy - initial y scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSz

      public double getInitialSz()
      Gets initial z scaling factor. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialSz in interface AccelerometerNonLinearCalibrator
      Returns:
      initial z scaling factor.

    • setInitialSz

      public void setInitialSz(double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial z scaling factor. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialSz in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialSz - initial z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxy

      public double getInitialMxy()
      Gets initial x-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialMxy in interface AccelerometerNonLinearCalibrator
      Returns:
      initial x-y cross coupling error.

    • setInitialMxy

      public void setInitialMxy(double initialMxy) throws com.irurueta.navigation.LockedException
      Sets initial x-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialMxy in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMxy - initial x-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxz

      public double getInitialMxz()
      Gets initial x-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialMxz in interface AccelerometerNonLinearCalibrator
      Returns:
      initial x-z cross coupling error.

    • setInitialMxz

      public void setInitialMxz(double initialMxz) throws com.irurueta.navigation.LockedException
      Sets initial x-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialMxz in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMxz - initial x-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyx

      public double getInitialMyx()
      Gets initial y-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialMyx in interface AccelerometerNonLinearCalibrator
      Returns:
      initial y-x cross coupling error.

    • setInitialMyx

      public void setInitialMyx(double initialMyx) throws com.irurueta.navigation.LockedException
      Sets initial y-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialMyx in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMyx - initial y-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyz

      public double getInitialMyz()
      Gets initial y-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialMyz in interface AccelerometerNonLinearCalibrator
      Returns:
      initial y-z cross coupling error.

    • setInitialMyz

      public void setInitialMyz(double initialMyz) throws com.irurueta.navigation.LockedException
      Sets initial y-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialMyz in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMyz - initial y-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzx

      public double getInitialMzx()
      Gets initial z-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialMzx in interface AccelerometerNonLinearCalibrator
      Returns:
      initial z-x cross coupling error.

    • setInitialMzx

      public void setInitialMzx(double initialMzx) throws com.irurueta.navigation.LockedException
      Sets initial z-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialMzx in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMzx - initial z-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzy

      public double getInitialMzy()
      Gets initial z-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialMzy in interface AccelerometerNonLinearCalibrator
      Returns:
      initial z-y cross coupling error.

    • setInitialMzy

      public void setInitialMzy(double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial z-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialMzy in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMzy - initial z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialScalingFactors

      public void setInitialScalingFactors(double initialSx, double initialSy, double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial scaling factors. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialScalingFactors in interface AccelerometerNonLinearCalibrator
      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

      public void setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial cross coupling errors. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialCrossCouplingErrors in interface AccelerometerNonLinearCalibrator
      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

      public 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. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialScalingFactorsAndCrossCouplingErrors in interface AccelerometerNonLinearCalibrator
      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.

    • getInitialBias

      public double[] getInitialBias()
      Gets initial bias to be used to find a solution as an array. Array values are expressed in meters per squared second (m/s^2). This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      array containing coordinates of initial bias.

    • getInitialBias

      public void getInitialBias(double[] result)
      Gets initial bias to be used to find a solution as an array. Array values are expressed in meters per squared second (m/s^2). This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setInitialBias

      public void setInitialBias(double[] initialBias) throws com.irurueta.navigation.LockedException
      Sets initial bias to be used to find a solution as an array. Array values are expressed in meters per squared second (m/s^2). This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBias - initial bias to find a solution.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getInitialBiasAsMatrix

      public com.irurueta.algebra.Matrix getInitialBiasAsMatrix()
      Gets initial bias to be used to find a solution as a column matrix. This is only taken into account if non-linear preliminary solutions are used. Values are expressed in meters per squared second (m/s^2).
      Specified by:
      getInitialBiasAsMatrix in interface UnknownBiasNonLinearAccelerometerCalibrator
      Returns:
      initial bias to be used to find a solution as a column matrix.

    • getInitialBiasAsMatrix

      public void getInitialBiasAsMatrix(com.irurueta.algebra.Matrix result)
      Gets initial bias to be used to find a solution as a column matrix. This is only taken into account if non-linear preliminary solutions are used. Values are expressed in meters per squared second (m/s^2).
      Specified by:
      getInitialBiasAsMatrix in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • setInitialBias

      public void setInitialBias(com.irurueta.algebra.Matrix initialBias) throws com.irurueta.navigation.LockedException
      Sets initial bias to be used to find a solution as an array. This is only taken into account if non-linear preliminary solutions are used. Values are expressed in meters per squared second (m/s^2).
      Specified by:
      setInitialBias in interface UnknownBiasNonLinearAccelerometerCalibrator
      Parameters:
      initialBias - initial bias to find a solution.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x1.

    • getInitialMa

      public com.irurueta.algebra.Matrix getInitialMa()
      Gets initial scale factors and cross coupling errors matrix. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialMa in interface AccelerometerNonLinearCalibrator
      Returns:
      initial scale factors and cross coupling errors matrix.

    • getInitialMa

      public void getInitialMa(com.irurueta.algebra.Matrix result)
      Gets initial scale factors and cross coupling errors matrix. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      getInitialMa in interface AccelerometerNonLinearCalibrator
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • setInitialMa

      public void setInitialMa(com.irurueta.algebra.Matrix initialMa) throws com.irurueta.navigation.LockedException
      Sets initial scale factors and cross coupling errors matrix. This is only taken into account if non-linear preliminary solutions are used.
      Specified by:
      setInitialMa in interface AccelerometerNonLinearCalibrator
      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.

    • getGroundTruthGravityNorm

      public Double getGroundTruthGravityNorm()
      Gets ground truth gravity norm to be expected at location where measurements have been made, expressed in meter per squared second (m/s^2).
      Returns:
      ground truth gravity norm or null.

    • setGroundTruthGravityNorm

      public void setGroundTruthGravityNorm(Double groundTruthGravityNorm) throws com.irurueta.navigation.LockedException
      Sets ground truth gravity norm to be expected at location where measurements have been made, expressed in meters per squared second (m/s^2).
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm or null if undefined.
      Throws:
      IllegalArgumentException - if provided value is negative.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getGroundTruthGravityNormAsAcceleration

      public com.irurueta.units.Acceleration getGroundTruthGravityNormAsAcceleration()
      Gets ground truth gravity norm to be expected at location where measurements have been made.
      Returns:
      ground truth gravity norm or null.

    • getGroundTruthGravityNormAsAcceleration

      public boolean getGroundTruthGravityNormAsAcceleration(com.irurueta.units.Acceleration result)
      Gets ground truth gravity norm to be expected at location where measurements have been made.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if ground truth gravity norm has been defined, false if it is not available yet.

    • setGroundTruthGravityNorm

      public void setGroundTruthGravityNorm(com.irurueta.units.Acceleration groundTruthGravityNorm) throws com.irurueta.navigation.LockedException
      Sets ground truth gravity norm to be expected at location where measurements have been made.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm or null if undefined.
      Throws:
      IllegalArgumentException - if provided value is negative.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurements

      public List<StandardDeviationBodyKinematics> getMeasurements()
      Gets a list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      Specified by:
      getMeasurements in interface OrderedStandardDeviationBodyKinematicsAccelerometerCalibrator
      Returns:
      list of body kinematics measurements.

    • setMeasurements

      public void setMeasurements(List<StandardDeviationBodyKinematics> measurements) throws com.irurueta.navigation.LockedException
      Sets a list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      Specified by:
      setMeasurements in interface OrderedStandardDeviationBodyKinematicsAccelerometerCalibrator
      Parameters:
      measurements - list of body kinematics measurements.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurementType

      public AccelerometerCalibratorMeasurementType getMeasurementType()
      Indicates the type of measurement used by this calibrator.
      Specified by:
      getMeasurementType in interface AccelerometerCalibrator
      Returns:
      type of measurement used by this calibrator.

    • isOrderedMeasurementsRequired

      public boolean isOrderedMeasurementsRequired()
      Indicates whether this calibrator requires ordered measurements in a list or not.
      Specified by:
      isOrderedMeasurementsRequired in interface AccelerometerCalibrator
      Returns:
      true if measurements must be ordered, false otherwise.

    • isCommonAxisUsed

      public boolean isCommonAxisUsed()
      Indicates whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.
      Specified by:
      isCommonAxisUsed in interface AccelerometerCalibrator
      Returns:
      true if z-axis is assumed to be common for accelerometer and gyroscope, false otherwise.

    • setCommonAxisUsed

      public void setCommonAxisUsed(boolean commonAxisUsed) throws com.irurueta.navigation.LockedException
      Specifies whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.
      Specified by:
      setCommonAxisUsed in interface AccelerometerCalibrator
      Parameters:
      commonAxisUsed - true if z-axis is assumed to be common for accelerometer and gyroscope, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getListener

      public RobustKnownGravityNormAccelerometerCalibratorListener getListener()
      Gets listener to handle events raised by this estimator.
      Returns:
      listener to handle events raised by this estimator.

    • setListener

      public void setListener(RobustKnownGravityNormAccelerometerCalibratorListener listener) throws com.irurueta.navigation.LockedException
      Sets listener to handle events raised by this estimator.
      Parameters:
      listener - listener to handle events raised by this estimator.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMinimumRequiredMeasurements

      public int getMinimumRequiredMeasurements()
      Gets minimum number of required measurements.
      Specified by:
      getMinimumRequiredMeasurements in interface AccelerometerCalibrator
      Returns:
      minimum number of required measurements.

    • isReady

      public boolean isReady()
      Indicates whether calibrator is ready to start.
      Specified by:
      isReady in interface AccelerometerCalibrator
      Returns:
      true if calibrator is ready, false otherwise.

    • isRunning

      public boolean isRunning()
      Indicates whether calibrator is currently running or not.
      Specified by:
      isRunning in interface AccelerometerCalibrator
      Returns:
      true if calibrator is running, false otherwise.

    • getProgressDelta

      public float getProgressDelta()
      Returns amount of progress variation before notifying a progress change during calibration.
      Returns:
      amount of progress variation before notifying a progress change during calibration.

    • setProgressDelta

      public void setProgressDelta(float progressDelta) throws com.irurueta.navigation.LockedException
      Sets amount of progress variation before notifying a progress change during calibration.
      Parameters:
      progressDelta - amount of progress variation before notifying a progress change during calibration.
      Throws:
      IllegalArgumentException - if progress delta is less than zero or greater than 1.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getConfidence

      public double getConfidence()
      Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
      Returns:
      amount of confidence as a value between 0.0 and 1.0.

    • setConfidence

      public void setConfidence(double confidence) throws com.irurueta.navigation.LockedException
      Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
      Parameters:
      confidence - confidence to be set as a value between 0.0 and 1.0.
      Throws:
      IllegalArgumentException - if provided value is not between 0.0 and 1.0.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMaxIterations

      public int getMaxIterations()
      Returns maximum allowed number of iterations. If maximum allowed number of iterations is achieved without converging to a result when calling calibrate(), a RobustEstimatorException will be raised.
      Returns:
      maximum allowed number of iterations.

    • setMaxIterations

      public void setMaxIterations(int maxIterations) throws com.irurueta.navigation.LockedException
      Sets maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.
      Parameters:
      maxIterations - maximum allowed number of iterations to be set.
      Throws:
      IllegalArgumentException - if provided value is less than 1.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInliersData

      public com.irurueta.numerical.robust.InliersData getInliersData()
      Gets data related to inliers found after estimation.
      Returns:
      data related to inliers found after estimation.

    • isResultRefined

      public boolean isResultRefined()
      Indicates whether result must be refined using a non-linear solver over found inliers.
      Returns:
      true to refine result, false to simply use result found by robust estimator without further refining.

    • setResultRefined

      public void setResultRefined(boolean refineResult) throws com.irurueta.navigation.LockedException
      Specifies whether result must be refined using a non-linear solver over found inliers.
      Parameters:
      refineResult - true to refine result, false to simply use result found by robust estimator without further refining.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isCovarianceKept

      public boolean isCovarianceKept()
      Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
      Returns:
      true if covariance must be kept after refining result, false otherwise.

    • setCovarianceKept

      public void setCovarianceKept(boolean keepCovariance) throws com.irurueta.navigation.LockedException
      Specifies whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
      Parameters:
      keepCovariance - true if covariance must be kept after refining result, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getQualityScores

      public double[] getQualityScores()
      Returns quality scores corresponding to each measurement. The larger the score value the better the quality of the sample. This implementation always returns null. Subclasses using quality scores must implement proper behavior.
      Specified by:
      getQualityScores in interface QualityScoredAccelerometerCalibrator
      Returns:
      quality scores corresponding to each sample.

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws com.irurueta.navigation.LockedException
      Sets quality scores corresponding to each measurement. The larger the score value the better the quality of the sample. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.
      Specified by:
      setQualityScores in interface QualityScoredAccelerometerCalibrator
      Parameters:
      qualityScores - quality scores corresponding to each pair of matched points.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getEstimatedBiases

      public double[] getEstimatedBiases()
      Gets array containing x,y,z components of estimated accelerometer biases expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiases in interface AccelerometerCalibrationSource
      Specified by:
      getEstimatedBiases in interface UnknownBiasAccelerometerCalibrator
      Returns:
      array containing x,y,z components of estimated accelerometer biases.

    • getEstimatedBiases

      public boolean getEstimatedBiases(double[] result)
      Gets array containing x,y,z components of estimated accelerometer biases expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiases in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where estimated accelerometer biases will be stored.
      Returns:
      true if result instance was updated, false otherwise (when estimation is not yet available).

    • getEstimatedBiasesAsMatrix

      public com.irurueta.algebra.Matrix getEstimatedBiasesAsMatrix()
      Gets column matrix containing x,y,z components of estimated accelerometer biases expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiasesAsMatrix in interface UnknownBiasAccelerometerCalibrator
      Returns:
      column matrix containing x,y,z components of estimated accelerometer biases

    • getEstimatedBiasesAsMatrix

      public boolean getEstimatedBiasesAsMatrix(com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.WrongSizeException
      Gets column matrix containing x,y,z components of estimated accelerometer biases expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiasesAsMatrix in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.
      Returns:
      true if result was updated, false otherwise.
      Throws:
      com.irurueta.algebra.WrongSizeException - if provided result instance has invalid size.

    • getEstimatedBiasFx

      public Double getEstimatedBiasFx()
      Gets x coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiasFx in interface UnknownBiasAccelerometerCalibrator
      Returns:
      x coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFy

      public Double getEstimatedBiasFy()
      Gets y coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiasFy in interface UnknownBiasAccelerometerCalibrator
      Returns:
      y coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFz

      public Double getEstimatedBiasFz()
      Gets z coordinate of estimated accelerometer bias expressed in meters per squared second (m/s^2).
      Specified by:
      getEstimatedBiasFz in interface UnknownBiasAccelerometerCalibrator
      Returns:
      z coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFxAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFxAsAcceleration()
      Gets x coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFxAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Returns:
      x coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFxAsAcceleration

      public boolean getEstimatedBiasFxAsAcceleration(com.irurueta.units.Acceleration result)
      Gets x coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFxAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasFyAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFyAsAcceleration()
      Gets y coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFyAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Returns:
      y coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFyAsAcceleration

      public boolean getEstimatedBiasFyAsAcceleration(com.irurueta.units.Acceleration result)
      Gets y coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFyAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasFzAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFzAsAcceleration()
      Gets z coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFzAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Returns:
      z coordinate of estimated accelerometer bias or null if not available.

    • getEstimatedBiasFzAsAcceleration

      public boolean getEstimatedBiasFzAsAcceleration(com.irurueta.units.Acceleration result)
      Gets z coordinate of estimated accelerometer bias.
      Specified by:
      getEstimatedBiasFzAsAcceleration in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasAsTriad

      public AccelerationTriad getEstimatedBiasAsTriad()
      Gets estimated accelerometer bias.
      Specified by:
      getEstimatedBiasAsTriad in interface UnknownBiasAccelerometerCalibrator
      Returns:
      estimated accelerometer bias or null if not available.

    • getEstimatedBiasAsTriad

      public boolean getEstimatedBiasAsTriad(AccelerationTriad result)
      Gets estimated accelerometer bias.
      Specified by:
      getEstimatedBiasAsTriad in interface UnknownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if estimated accelerometer bias is available and result was modified, false otherwise.

    • getEstimatedMa

      public com.irurueta.algebra.Matrix getEstimatedMa()
      Gets estimated accelerometer scale factors and ross 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.
      Specified by:
      getEstimatedMa in interface AccelerometerCalibrationSource
      Specified by:
      getEstimatedMa in interface AccelerometerCalibrator
      Returns:
      estimated accelerometer scale factors and cross coupling errors, or null if not available.

    • getEstimatedSx

      public Double getEstimatedSx()
      Gets estimated x-axis scale factor.
      Specified by:
      getEstimatedSx in interface AccelerometerCalibrator
      Returns:
      estimated x-axis scale factor or null if not available.

    • getEstimatedSy

      public Double getEstimatedSy()
      Gets estimated y-axis scale factor.
      Specified by:
      getEstimatedSy in interface AccelerometerCalibrator
      Returns:
      estimated y-axis scale factor or null if not available.

    • getEstimatedSz

      public Double getEstimatedSz()
      Gets estimated z-axis scale factor.
      Specified by:
      getEstimatedSz in interface AccelerometerCalibrator
      Returns:
      estimated z-axis scale factor or null if not available.

    • getEstimatedMxy

      public Double getEstimatedMxy()
      Gets estimated x-y cross-coupling error.
      Specified by:
      getEstimatedMxy in interface AccelerometerCalibrator
      Returns:
      estimated x-y cross-coupling error or null if not available.

    • getEstimatedMxz

      public Double getEstimatedMxz()
      Gets estimated x-z cross-coupling error.
      Specified by:
      getEstimatedMxz in interface AccelerometerCalibrator
      Returns:
      estimated x-z cross-coupling error or null if not available.

    • getEstimatedMyx

      public Double getEstimatedMyx()
      Gets estimated y-x cross-coupling error.
      Specified by:
      getEstimatedMyx in interface AccelerometerCalibrator
      Returns:
      estimated y-x cross-coupling error or null if not available.

    • getEstimatedMyz

      public Double getEstimatedMyz()
      Gets estimated y-z cross-coupling error.
      Specified by:
      getEstimatedMyz in interface AccelerometerCalibrator
      Returns:
      estimated y-z cross-coupling error or null if not available.

    • getEstimatedMzx

      public Double getEstimatedMzx()
      Gets estimated z-x cross-coupling error.
      Specified by:
      getEstimatedMzx in interface AccelerometerCalibrator
      Returns:
      estimated z-x cross-coupling error or null if not available.

    • getEstimatedMzy

      public Double getEstimatedMzy()
      Gets estimated z-y cross-coupling error.
      Specified by:
      getEstimatedMzy in interface AccelerometerCalibrator
      Returns:
      estimated z-y cross-coupling error or null if not available.

    • getEstimatedChiSq

      public double getEstimatedChiSq()
      Gets estimated chi square value.
      Specified by:
      getEstimatedChiSq in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated chi square value.

    • getEstimatedChiSqDegreesOfFreedom

      public 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.
      Specified by:
      getEstimatedChiSqDegreesOfFreedom in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated degrees of freedom of chi square value

    • getEstimatedReducedChiSq

      public 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.
      Specified by:
      getEstimatedReducedChiSq in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated reduced chi square value

    • getEstimatedMse

      public double getEstimatedMse()
      Gets estimated mean square error respect to provided measurements.
      Specified by:
      getEstimatedMse in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated mean square error respect to provided measurements.

    • getEstimatedP

      public 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.
      Specified by:
      getEstimatedP in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated probability of finding a smaller chi square value.

    • getEstimatedQ

      public 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.
      Specified by:
      getEstimatedQ in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated measure of quality of estimated fit.

    • getEstimatedCovariance

      public com.irurueta.algebra.Matrix getEstimatedCovariance()
      Gets estimated covariance matrix for estimated calibration solution. Diagonal elements of the matrix contains variance for the following parameters (following indicated order): bx, by, bz, sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy. This is only available when result has been refined and covariance is kept.
      Specified by:
      getEstimatedCovariance in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated covariance matrix for estimated position.

    • getEstimatedBiasFxVariance

      public Double getEstimatedBiasFxVariance()
      Gets variance of estimated x coordinate of accelerometer bias expressed in (m^2/s^4).
      Returns:
      variance of estimated x coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFxStandardDeviation

      public Double getEstimatedBiasFxStandardDeviation()
      Gets standard deviation of estimated x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Returns:
      standard deviation of estimated x coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFxStandardDeviationAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFxStandardDeviationAsAcceleration()
      Gets standard deviation of estimated x coordinate of accelerometer bias.
      Returns:
      standard deviation of estimated x coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFxStandardDeviationAsAcceleration

      public boolean getEstimatedBiasFxStandardDeviationAsAcceleration(com.irurueta.units.Acceleration result)
      Gets standard deviation of estimated x coordinate of accelerometer bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated x coordinate of accelerometer bias is available, false otherwise.

    • getEstimatedBiasFyVariance

      public Double getEstimatedBiasFyVariance()
      Gets variance of estimated y coordinate of accelerometer bias expressed in (m^2/s^4).
      Returns:
      variance of estimated y coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFyStandardDeviation

      public Double getEstimatedBiasFyStandardDeviation()
      Gets standard deviation of estimated y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Returns:
      standard deviation of estimated y coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFyStandardDeviationAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFyStandardDeviationAsAcceleration()
      Gets standard deviation of estimated y coordinate of accelerometer bias.
      Returns:
      standard deviation of estimated y coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFyStandardDeviationAsAcceleration

      public boolean getEstimatedBiasFyStandardDeviationAsAcceleration(com.irurueta.units.Acceleration result)
      Gets standard deviation of estimated y coordinate of accelerometer bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated y coordinate of accelerometer bias is available, false otherwise.

    • getEstimatedBiasFzVariance

      public Double getEstimatedBiasFzVariance()
      Gets variance of estimated z coordinate of accelerometer bias expressed in (m^2/s^4).
      Returns:
      variance of estimated z coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFzStandardDeviation

      public Double getEstimatedBiasFzStandardDeviation()
      Gets standard deviation of estimated z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Returns:
      standard deviation of estimated z coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFzStandardDeviationAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasFzStandardDeviationAsAcceleration()
      Gets standard deviation of estimated z coordinate of accelerometer bias.
      Returns:
      standard deviation of estimated z coordinate of accelerometer bias or null if not available.

    • getEstimatedBiasFzStandardDeviationAsAcceleration

      public boolean getEstimatedBiasFzStandardDeviationAsAcceleration(com.irurueta.units.Acceleration result)
      Gets standard deviation of estimated z coordinate of accelerometer bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated z coordinate of accelerometer bias is available, false otherwise.

    • getEstimatedBiasStandardDeviation

      public AccelerationTriad getEstimatedBiasStandardDeviation()
      Gets standard deviation of estimated accelerometer bias coordinates.
      Returns:
      standard deviation of estimated accelerometer bias coordinates.

    • getEstimatedBiasStandardDeviation

      public boolean getEstimatedBiasStandardDeviation(AccelerationTriad result)
      Gets standard deviation of estimated accelerometer bias coordinates.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of accelerometer bias was available, false otherwise.

    • getEstimatedBiasStandardDeviationAverage

      public Double getEstimatedBiasStandardDeviationAverage()
      Gets average of estimated standard deviation of accelerometer bias coordinates expressed in meters per squared second (m/s^2).
      Returns:
      average of estimated standard deviation of accelerometer bias coordinates or null if not available.

    • getEstimatedBiasStandardDeviationAverageAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasStandardDeviationAverageAsAcceleration()
      Gets average of estimated standard deviation of accelerometer bias coordinates.
      Returns:
      average of estimated standard deviation of accelerometer bias coordinates or null.

    • getEstimatedBiasStandardDeviationAverageAsAcceleration

      public boolean getEstimatedBiasStandardDeviationAverageAsAcceleration(com.irurueta.units.Acceleration result)
      Gets average of estimated standard deviation of accelerometer bias coordinates.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if average of estimated standard deviation of accelerometer bias is available, false otherwise.

    • getEstimatedBiasStandardDeviationNorm

      public Double getEstimatedBiasStandardDeviationNorm()
      Gets norm of estimated standard deviation of accelerometer bias expressed in meters per squared second (m/s^2). This can be used as the initial accelerometer bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.
      Specified by:
      getEstimatedBiasStandardDeviationNorm in interface AccelerometerBiasUncertaintySource
      Returns:
      norm of estimated standard deviation of accelerometer bias or null if not available.

    • getEstimatedBiasStandardDeviationNormAsAcceleration

      public com.irurueta.units.Acceleration getEstimatedBiasStandardDeviationNormAsAcceleration()
      Gets norm of estimated standard deviation of accelerometer bias. This can be used as the initial accelerometer bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.
      Returns:
      norm of estimated standard deviation of accelerometer bias or null if not available.

    • getEstimatedBiasStandardDeviationNormAsAcceleration

      public boolean getEstimatedBiasStandardDeviationNormAsAcceleration(com.irurueta.units.Acceleration result)
      Gets norm of estimated standard deviation of accelerometer bias coordinates. This can be used as the initial accelerometer bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if norm of estimated standard deviation of accelerometer bias is available, false otherwise.

    • getPreliminarySubsetSize

      public int getPreliminarySubsetSize()
      Gets size of subsets to be checked during robust estimation. This has to be at least getMinimumRequiredMeasurements().
      Returns:
      size of subsets to be checked during robust estimation.

    • setPreliminarySubsetSize

      public void setPreliminarySubsetSize(int preliminarySubsetSize) throws com.irurueta.navigation.LockedException
      Sets size of subsets to be checked during robust estimation. This has to be at least getMinimumRequiredMeasurements().
      Parameters:
      preliminarySubsetSize - size of subsets to be checked during robust estimation.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided value is less than getMinimumRequiredMeasurements().

    • getMethod

      public abstract com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
      Returns method being used for robust estimation.
      Returns:
      method being used for robust estimation.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(List<StandardDeviationBodyKinematics> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.algebra.Matrix initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      initialBias - initial bias to find a solution.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] qualityScores, com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust accelerometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative or if provided quality scores length is smaller than 10 or 13 samples.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create()
      Creates a robust accelerometer calibrator using default robust method.
      Returns:
      a robust accelerometer calibrator.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Returns:
      a robust accelerometer calibrator.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(List<StandardDeviationBodyKinematics> measurements)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      Returns:
      a robust accelerometer calibrator.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(boolean commonAxisUsed)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Returns:
      a robust accelerometer calibrator.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(double[] initialBias)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.algebra.Matrix initialBias)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      initialBias - initial bias to find a solution.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(Double groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - list of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • create

      public static RobustKnownGravityNormAccelerometerCalibrator create(com.irurueta.units.Acceleration groundTruthGravityNorm, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, RobustKnownGravityNormAccelerometerCalibratorListener listener)
      Creates a robust accelerometer calibrator using default robust method.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust accelerometer calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • computeError

      protected double computeError(StandardDeviationBodyKinematics measurement, RobustKnownGravityNormAccelerometerCalibrator.PreliminaryResult preliminaryResult)
      Computes error of preliminary result respect a given measurement for current gravity norm.
      Parameters:
      measurement - a measurement.
      preliminaryResult - a preliminary result.
      Returns:
      computed error.

    • computePreliminarySolutions

      protected void computePreliminarySolutions(int[] samplesIndices, List<RobustKnownGravityNormAccelerometerCalibrator.PreliminaryResult> solutions)
      Computes a preliminary solution for a subset of samples picked by a robust estimator.
      Parameters:
      samplesIndices - indices of samples picked by the robust estimator.
      solutions - list where estimated preliminary solution will be stored.

    • attemptRefine

      protected void attemptRefine(RobustKnownGravityNormAccelerometerCalibrator.PreliminaryResult preliminaryResult)
      Attempts to refine calibration parameters if refinement is requested. This method returns a refined solution or provided input if refinement is not requested or has failed. If refinement is enabled and it is requested to keep covariance, this method will also keep covariance of refined position.
      Parameters:
      preliminaryResult - a preliminary result.

    • internalSetGroundTruthGravityNorm

      private void internalSetGroundTruthGravityNorm(Double groundTruthGravityNorm)
      Internally sets ground truth gravity norm to be expected at location where measurements have been made, expressed in meters per squared second (m/s^2).
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm or null if undefined.
      Throws:
      IllegalArgumentException - if provided value is negative.

    • convertAcceleration

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

    • convertAcceleration

      private static double convertAcceleration(com.irurueta.units.Acceleration acceleration)
      Converts acceleration instance to meters per squared second.
      Parameters:
      acceleration - acceleration instance to be converted.
      Returns:
      converted value.