Package com.irurueta.navigation.inertial.calibration.generators

Class GyroscopeMeasurementsGenerator

java.lang.Object

com.irurueta.navigation.inertial.calibration.generators.MeasurementsGenerator<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

com.irurueta.navigation.inertial.calibration.generators.GyroscopeMeasurementsGenerator

All Implemented Interfaces:

AccelerometerNoiseRootPsdSource, GyroscopeNoiseRootPsdSource

public class GyroscopeMeasurementsGenerator
extends MeasurementsGenerator<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>
implements GyroscopeNoiseRootPsdSource

Generates measurements for the calibration of gyroscopes by alternating static and dynamic intervals where device is kept static or moved. Generated measurements must be used with easy gyroscope calibrators. Notice that accuracy of the gyroscope calibration is very sensitive to the accuracy of detected dynamic intervals respect the average specific forces during static intervals. In order to increase the accuracy, calibration should be repeated trying different threshold factors MeasurementsGenerator.getThresholdFactor(). Such calibrators are the following ones: - EasyGyroscopeCalibrator - KnownBiasEasyGyroscopeCalibrator - RobustEasyGyroscopeCalibrator and all its implementations. - RobustKnownBiasEasyGyroscopeCalibrator and all its implementations.

Field Summary

Fields

Modifier and Type	Field	Description
private double	accelerationStandardDeviation	Estimated acceleration standard deviation during initialization expressed in meters per squared second (m/s^2).
private final AccumulatedAngularSpeedTriadNoiseEstimator	accumulatedEstimator	Accumulated noise estimator for angular speed measurements.
private double	angularSpeedNoiseRootPsd	Estimated norm of gyroscope noise root PSD (Power Spectral Density) expressed as (rad * s^-0.5).
private double	angularSpeedStandardDeviation	Estimated angular speed standard deviation during initialization expressed in radians per second (rad/s).
protected final AngularSpeedTriad	angularSpeedTriad	An angular speed triad.
private Double	currentAvgX	Current average x-coordinate of measurements expressed in meters per squared second (m/s^2).
private Double	currentAvgY	Current average y-coordinate of measurements expressed in meters per squared second (m/s^2).
private Double	currentAvgZ	Current average z-coordinate of measurements expressed in meters per squared second (m/s^2).
private List<StandardDeviationTimedBodyKinematics>	currentSequenceItems	Items to be added to a generated sequence when next static period occurs.
private Double	previousAvgX	Previous average x-coordinate of measurements expressed in meters per squared second (m/s^2).
private Double	previousAvgY	Previous average y-coordinate of measurements expressed in meters per squared second (m/s^2).
private Double	previousAvgZ	Previous average z-coordinate of measurements expressed in meters per squared second (m/s^2).
private TriadStaticIntervalDetector.Status	previousStatus	Contains previous status while processing samples.

Fields inherited from class com.irurueta.navigation.inertial.calibration.generators.MeasurementsGenerator

DEFAULT_MAX_DYNAMIC_SAMPLES, DEFAULT_MIN_STATIC_SAMPLES, listener, staticIntervalDetector, triad

Constructor Summary

Constructors

Constructor	Description
GyroscopeMeasurementsGenerator()	Constructor.
GyroscopeMeasurementsGenerator(GyroscopeMeasurementsGeneratorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
private void	addSequenceItem(TimedBodyKinematics sample)	Adds an item to current sequence items.
protected void	getAccelerationTriadFromInputSample(TimedBodyKinematics sample)	Gets corresponding acceleration triad from provided input sample.
double	getGyroscopeBaseNoiseLevel()	Gets gyroscope base noise level that has been detected during initialization expressed in radians per second (rad/s).
com.irurueta.units.AngularSpeed	getGyroscopeBaseNoiseLevelAsMeasurement()	Gets gyroscope base noise level that has been detected during initialization.
void	getGyroscopeBaseNoiseLevelAsMeasurement(com.irurueta.units.AngularSpeed result)	Gets gyroscope base noise level that has been detected during initialization.
double	getGyroscopeBaseNoiseLevelPsd()	Gets gyroscope base noise level PSD (Power Spectral Density) expressed in (rad^2/s).
double	getGyroscopeBaseNoiseLevelRootPsd()	Gets gyroscope base noise level root PSD (Power Spectral Density) expressed in (rad * s^-0.5)
AngularSpeedTriad	getInitialAngularSpeedTriadStandardDeviation()	Gets estimated standard deviation of angular rate during initialization phase.
void	getInitialAngularSpeedTriadStandardDeviation(AngularSpeedTriad result)	Gets estimated standard deviation of angular rate during initialization phase.
AngularSpeedTriad	getInitialAvgAngularSpeedTriad()	Gets estimated average angular rate during initialization phase.
void	getInitialAvgAngularSpeedTriad(AngularSpeedTriad result)	Gets estimated average angular rate during initialization phase.
protected void	handleDynamicToStaticChange()	Handles a dynamic-to-static interval change.
protected void	handleInitializationCompleted()	Handles an initialization completion.
protected void	handleInitializationFailed()	Handles an error during initialization.
protected void	handleStaticToDynamicChange(double accumulatedAvgX, double accumulatedAvgY, double accumulatedAvgZ, double accumulatedStdX, double accumulatedStdY, double accumulatedStdZ)	Handles a static-to-dynamic interval change.
protected void	postProcess(TimedBodyKinematics sample)	Post process provided input sample.
void	reset()	Resets this generator.
void	setTimeInterval(double timeInterval)	Sets time interval between input samples expressed in seconds (s).

Methods inherited from class com.irurueta.navigation.inertial.calibration.generators.MeasurementsGenerator

checkProcessedSamples, getAccelerometerBaseNoiseLevel, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelAsMeasurement, getAccelerometerBaseNoiseLevelPsd, getAccelerometerBaseNoiseLevelRootPsd, getBaseNoiseLevelAbsoluteThreshold, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getInitialStaticSamples, getInstantaneousNoiseLevelFactor, getListener, getMaxDynamicSamples, getMinStaticSamples, getProcessedDynamicSamples, getProcessedStaticSamples, getStatus, getThreshold, getThresholdAsMeasurement, getThresholdAsMeasurement, getThresholdFactor, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getWindowSize, isDynamicIntervalSkipped, isRunning, isStaticIntervalSkipped, process, setBaseNoiseLevelAbsoluteThreshold, setBaseNoiseLevelAbsoluteThreshold, setInitialStaticSamples, setInstantaneousNoiseLevelFactor, setListener, setMaxDynamicSamples, setMinStaticSamples, setThresholdFactor, setTimeInterval, setWindowSize, updateCounters

Methods inherited from class java.lang.Object

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

Field Details

angularSpeedTriad

protected final AngularSpeedTriad angularSpeedTriad

An angular speed triad. This is reused for memory efficiency.

currentSequenceItems

private List<StandardDeviationTimedBodyKinematics> currentSequenceItems

Items to be added to a generated sequence when next static period occurs.

accumulatedEstimator

private final AccumulatedAngularSpeedTriadNoiseEstimator accumulatedEstimator

Accumulated noise estimator for angular speed measurements.

accelerationStandardDeviation

private double accelerationStandardDeviation

Estimated acceleration standard deviation during initialization expressed in meters per squared second (m/s^2).

angularSpeedStandardDeviation

private double angularSpeedStandardDeviation

Estimated angular speed standard deviation during initialization expressed in radians per second (rad/s).

angularSpeedNoiseRootPsd

private double angularSpeedNoiseRootPsd

Estimated norm of gyroscope noise root PSD (Power Spectral Density) expressed as (rad * s^-0.5).

previousAvgX

private Double previousAvgX

Previous average x-coordinate of measurements expressed in meters per squared second (m/s^2).

previousAvgY

private Double previousAvgY

Previous average y-coordinate of measurements expressed in meters per squared second (m/s^2).

previousAvgZ

private Double previousAvgZ

Previous average z-coordinate of measurements expressed in meters per squared second (m/s^2).

currentAvgX

private Double currentAvgX

Current average x-coordinate of measurements expressed in meters per squared second (m/s^2).

currentAvgY

private Double currentAvgY

Current average y-coordinate of measurements expressed in meters per squared second (m/s^2).

currentAvgZ

private Double currentAvgZ

Current average z-coordinate of measurements expressed in meters per squared second (m/s^2).

previousStatus

private TriadStaticIntervalDetector.Status previousStatus

Contains previous status while processing samples.

Constructor Details

GyroscopeMeasurementsGenerator

public GyroscopeMeasurementsGenerator()

Constructor.

GyroscopeMeasurementsGenerator

public GyroscopeMeasurementsGenerator(GyroscopeMeasurementsGeneratorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this generator.

Method Details

setTimeInterval

public void setTimeInterval(double timeInterval)
                     throws com.irurueta.navigation.LockedException

Sets time interval between input samples expressed in seconds (s).

Overrides:

setTimeInterval in class MeasurementsGenerator<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

Parameters:

timeInterval - time interval between input samples.

Throws:

IllegalArgumentException - if provided value is negative.

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

reset

public void reset()
           throws com.irurueta.navigation.LockedException

Resets this generator.

Overrides:

reset in class MeasurementsGenerator<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

Throws:

com.irurueta.navigation.LockedException - if generator is busy.

getInitialAvgAngularSpeedTriad

public AngularSpeedTriad getInitialAvgAngularSpeedTriad()

Gets estimated average angular rate during initialization phase.

Returns:

estimated average angular rate during initialization phase.

getInitialAvgAngularSpeedTriad

public void getInitialAvgAngularSpeedTriad(AngularSpeedTriad result)

Gets estimated average angular rate during initialization phase.

Parameters:

result - instance where result will be stored.

getInitialAngularSpeedTriadStandardDeviation

public AngularSpeedTriad getInitialAngularSpeedTriadStandardDeviation()

Gets estimated standard deviation of angular rate during initialization phase.

Returns:

estimated standard deviation of angular rate during initialization phase.

getInitialAngularSpeedTriadStandardDeviation

public void getInitialAngularSpeedTriadStandardDeviation(AngularSpeedTriad result)

Gets estimated standard deviation of angular rate during initialization phase.

Parameters:

result - instance where result will be stored.

getGyroscopeBaseNoiseLevel

public double getGyroscopeBaseNoiseLevel()

Gets gyroscope base noise level that has been detected during initialization expressed in radians per second (rad/s). This is equal to the standard deviation of the gyroscope measurements during initialization phase.

Returns:

gyroscope base noise level.

getGyroscopeBaseNoiseLevelAsMeasurement

public com.irurueta.units.AngularSpeed getGyroscopeBaseNoiseLevelAsMeasurement()

Gets gyroscope base noise level that has been detected during initialization. This is equal to the standard deviation of the gyroscope measurements during initialization phase.

Returns:

gyroscope base noise level.

getGyroscopeBaseNoiseLevelAsMeasurement

public void getGyroscopeBaseNoiseLevelAsMeasurement(com.irurueta.units.AngularSpeed result)

Gets gyroscope base noise level that has been detected during initialization. This is equal to the standard deviation of the gyroscope measurements during initialization phase.

Parameters:

result - instance where result will be stored.

getGyroscopeBaseNoiseLevelPsd

public double getGyroscopeBaseNoiseLevelPsd()

Gets gyroscope base noise level PSD (Power Spectral Density) expressed in (rad^2/s).

Returns:

gyroscope base noise level PSD.

getGyroscopeBaseNoiseLevelRootPsd

public double getGyroscopeBaseNoiseLevelRootPsd()

Gets gyroscope base noise level root PSD (Power Spectral Density) expressed in (rad * s^-0.5)

Specified by:

getGyroscopeBaseNoiseLevelRootPsd in interface GyroscopeNoiseRootPsdSource

Returns:

gyroscope base noise level root PSD.

postProcess

protected void postProcess(TimedBodyKinematics sample)
                    throws com.irurueta.navigation.LockedException

Post process provided input sample.

Specified by:

postProcess in class MeasurementsGenerator<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

Parameters:

sample - an input sample.

Throws:

com.irurueta.navigation.LockedException - if generator is busy.

getAccelerationTriadFromInputSample

protected void getAccelerationTriadFromInputSample(TimedBodyKinematics sample)

Gets corresponding acceleration triad from provided input sample. This method must store the result into MeasurementsGenerator.triad.

Specified by:

getAccelerationTriadFromInputSample in class MeasurementsGenerator<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

Parameters:

sample - input sample.

handleStaticToDynamicChange

protected void handleStaticToDynamicChange(double accumulatedAvgX,
 double accumulatedAvgY,
 double accumulatedAvgZ,
 double accumulatedStdX,
 double accumulatedStdY,
 double accumulatedStdZ)

Handles a static-to-dynamic interval change.

Specified by:

handleStaticToDynamicChange in class MeasurementsGenerator<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

Parameters:

accumulatedAvgX - average x-coordinate of measurements during last static period expressed in meters per squared second (m/s^2).

accumulatedAvgY - average y-coordinate of specific force during last static period expressed in meters per squared second (m/s^2).

accumulatedAvgZ - average z-coordinate of specific force during last static period expressed in meters per squared second (m/s^2).

accumulatedStdX - standard deviation of x-coordinate of measurements during last static period expressed in meters per squared second (m/s^2).

accumulatedStdY - standard deviation of y-coordinate of measurements during last static period expressed in meters per squared second (m/s^2).

accumulatedStdZ - standard deviation of z-coordinate of measurements during last static period expressed in meters per squared second (m/s^2).

handleDynamicToStaticChange

protected void handleDynamicToStaticChange()

Handles a dynamic-to-static interval change.

Specified by:

handleDynamicToStaticChange in class MeasurementsGenerator<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

handleInitializationCompleted

protected void handleInitializationCompleted()

Handles an initialization completion.

Specified by:

handleInitializationCompleted in class MeasurementsGenerator<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

handleInitializationFailed

protected void handleInitializationFailed()

Handles an error during initialization.

Specified by:

handleInitializationFailed in class MeasurementsGenerator<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

addSequenceItem

private void addSequenceItem(TimedBodyKinematics sample)

Adds an item to current sequence items.

Parameters:

sample - sample to generate a sequence item from.