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

Class MagnetometerMeasurementsGenerator

java.lang.Object

com.irurueta.navigation.inertial.calibration.generators.MeasurementsGenerator<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

com.irurueta.navigation.inertial.calibration.generators.MagnetometerMeasurementsGenerator

All Implemented Interfaces:

AccelerometerNoiseRootPsdSource

public class MagnetometerMeasurementsGenerator
extends MeasurementsGenerator<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

Generates measurements for the calibration of magnetometers by alternating static and dynamic intervals where device is kept static or moved. Generated measurements must be used with magnetometer calibrators based on the knowledge of position on Earth and time instant. Such calibrators are the following ones: - KnownPositionAndInstantMagnetometerCalibrator - KnownHardIronPositionAndInstantMagnetometerCalibrator - RobustKnownPositionAndInstantMagnetometerCalibrator and all its implementations. - RobustKnownHardIronPositionAndInstantMagnetometerCalibrator and all its implementations.

Field Summary

Fields

Modifier and Type	Field	Description
private final AccumulatedMagneticFluxDensityTriadNoiseEstimator	accumulatedEstimator	Accumulated noise estimator for magnetic flux density measurements.
private double	avgBx	Accumulated average x-coordinate of magnetic flux density while body remains in a static interval and expressed in Teslas (T).
private double	avgBy	Accumulated average y-coordinate of magnetic flux density while body remains in a static interval and expressed in Teslas (T).
private double	avgBz	Accumulated average z-coordinate of magnetic flux density while body remains in a static interval and expressed in Teslas (T).
private double	stdBNorm	Contains standard deviation of magnetic flux density during initialization (i.e. base noise level) expressed in Teslas (T).

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
MagnetometerMeasurementsGenerator()	Constructor.
MagnetometerMeasurementsGenerator(MagnetometerMeasurementsGeneratorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected void	getAccelerationTriadFromInputSample(BodyKinematicsAndMagneticFluxDensity sample)	Gets corresponding acceleration triad from provided input sample.
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(BodyKinematicsAndMagneticFluxDensity sample)	Post process provided input sample.
void	reset()	Resets this generator.

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, setTimeInterval, setWindowSize, updateCounters

Methods inherited from class java.lang.Object

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

Field Details

accumulatedEstimator

private final AccumulatedMagneticFluxDensityTriadNoiseEstimator accumulatedEstimator

Accumulated noise estimator for magnetic flux density measurements.

avgBx

private double avgBx

Accumulated average x-coordinate of magnetic flux density while body remains in a static interval and expressed in Teslas (T).

avgBy

private double avgBy

Accumulated average y-coordinate of magnetic flux density while body remains in a static interval and expressed in Teslas (T).

avgBz

private double avgBz

Accumulated average z-coordinate of magnetic flux density while body remains in a static interval and expressed in Teslas (T).

stdBNorm

private double stdBNorm

Contains standard deviation of magnetic flux density during initialization (i.e. base noise level) expressed in Teslas (T).

Constructor Details

MagnetometerMeasurementsGenerator

public MagnetometerMeasurementsGenerator()

Constructor.

MagnetometerMeasurementsGenerator

public MagnetometerMeasurementsGenerator(MagnetometerMeasurementsGeneratorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this generator.

Method Details

reset

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

Resets this generator.

Overrides:

reset in class MeasurementsGenerator<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

Throws:

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

postProcess

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

Post process provided input sample.

Specified by:

postProcess in class MeasurementsGenerator<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

Parameters:

sample - an input sample.

Throws:

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

getAccelerationTriadFromInputSample

protected void getAccelerationTriadFromInputSample(BodyKinematicsAndMagneticFluxDensity sample)

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

Specified by:

getAccelerationTriadFromInputSample in class MeasurementsGenerator<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

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<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

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<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

handleInitializationCompleted

protected void handleInitializationCompleted()

Handles an initialization completion.

Specified by:

handleInitializationCompleted in class MeasurementsGenerator<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

handleInitializationFailed

protected void handleInitializationFailed()

Handles an error during initialization.

Specified by:

handleInitializationFailed in class MeasurementsGenerator<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>