Package com.irurueta.navigation.inertial.calibration.gyroscope

Class RobustKnownBiasTurntableGyroscopeCalibrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownBiasTurntableGyroscopeCalibrator

All Implemented Interfaces:

AccelerometerDependentGyroscopeCalibrator, GyroscopeCalibrator, GyroscopeNonLinearCalibrator, KnownBiasGyroscopeCalibrator, OrderedStandardDeviationBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator

Direct Known Subclasses:

LMedSRobustKnownBiasTurntableGyroscopeCalibrator, MSACRobustKnownBiasTurntableGyroscopeCalibrator, PROMedSRobustKnownBiasTurntableGyroscopeCalibrator, PROSACRobustKnownBiasTurntableGyroscopeCalibrator, RANSACRobustKnownBiasTurntableGyroscopeCalibrator

public abstract class RobustKnownBiasTurntableGyroscopeCalibrator
extends Object
implements GyroscopeNonLinearCalibrator, KnownBiasGyroscopeCalibrator, OrderedStandardDeviationBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator, AccelerometerDependentGyroscopeCalibrator

This is an abstract class to robustly estimate gyroscope cross couplings and scaling factors along with G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer when gyroscope biases are known.

This calibrator assumes that the IMU is placed flat on a turntable spinning at constant speed, but absolute orientation or position of IMU is unknown. Turntable must rotate fast enough so that Earth rotation effects can be neglected, bus slow enough so that gyroscope readings can be properly made.

To use this calibrator at least 10 measurements are needed when common z-axis is assumed and G-dependent cross biases are ignored, otherwise at least 13 measurements are required when common z-axis is not assumed. If G-dependent cross biases are being estimated, then at least 19 measurements are needed when common z-axis is assumed, otherwise at least 22 measurements are required when common z-axis is not assumed.

Measured gyroscope angular rates is assumed to follow the model shown below:

     Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w
 

Where: - Ωmeas is the measured gyroscope angular rates. This is a 3x1 vector. - bg is the gyroscope bias. Ideally, on a perfect gyroscope, this should be a 3x1 zero vector. - I is the 3x3 identity matrix. - Mg is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on a perfect gyroscope, this should be a 3x3 zero matrix. - Ωtrue is ground-truth gyroscope angular rates. - Gg is the G-dependent cross biases introduced by the specific forces sensed by the accelerometer. Ideally, on a perfect gyroscope, this should be a 3x3 zero matrix. - ftrue is ground-truth specific force. This is a 3x1 vector. - w is measurement noise. This is a 3x1 vector.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
protected static class	RobustKnownBiasTurntableGyroscopeCalibrator.PreliminaryResult	Internal class containing estimated preliminary result.

Field Summary

Fields

Modifier and Type	Field	Description
private double	accelerometerBiasX	Known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerBiasY	Known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerBiasZ	Known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMxy	Known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMxz	Know accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMyx	Known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMyz	Known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMzx	Known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerMzy	Known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerSx	Known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerSy	Known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	accelerometerSz	Known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
private double	biasX	Known x-coordinate of gyroscope bias.
private double	biasY	Known y-coordinate of gyroscope bias.
private double	biasZ	Known z-coordinate of gyroscope bias.
private boolean	commonAxisUsed	This flag indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
protected double	confidence	Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).
static final double	DEFAULT_CONFIDENCE	Constant defining default confidence of the estimated result, which is 99%.
static final boolean	DEFAULT_ESTIMATE_G_DEPENDENT_CROSS_BIASES	Indicates that by default G-dependent cross biases introduced by the accelerometer on the gyroscope are estimated.
static final boolean	DEFAULT_KEEP_COVARIANCE	Indicates that covariance is kept by default after refining result.
static final int	DEFAULT_MAX_ITERATIONS	Default maximum allowed number of iterations.
static final float	DEFAULT_PROGRESS_DELTA	Default amount of progress variation before notifying a change in estimation progress.
static final boolean	DEFAULT_REFINE_RESULT	Indicates that result is refined by default using a non-linear calibrator (which uses a Levenberg-Marquardt fitter).
static final com.irurueta.numerical.robust.RobustEstimatorMethod	DEFAULT_ROBUST_METHOD	Default robust estimator method when none is provided.
static final double	DEFAULT_TIME_INTERVAL	Default time interval between measurements expressed in seconds (s).
static final double	DEFAULT_TURNTABLE_ROTATION_RATE	Default turntable rotation rate.
static final boolean	DEFAULT_USE_COMMON_Z_AXIS	Indicates whether by default a common z-axis is assumed for both the accelerometer and gyroscope.
private double	estimatedChiSq	Estimated chi square value.
private int	estimatedChiSqDegreesOfFreedom	Estimated degrees of freedom of chi square value.
private com.irurueta.algebra.Matrix	estimatedCovariance	Estimated covariance matrix for estimated parameters.
private com.irurueta.algebra.Matrix	estimatedGg	Estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
private com.irurueta.algebra.Matrix	estimatedMg	Estimated gyroscope scale factors and cross coupling errors.
private double	estimatedMse	Estimated mean square error respect to provided measurements.
private double	estimatedP	Estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0.
private double	estimatedQ	Estimated measure of quality of estimated fit as a value between 0.0 and 1.0.
private double	estimatedReducedChiSq	Estimated reduced chi square value.
private boolean	estimateGDependentCrossBiases	This flag indicates whether G-dependent cross biases are being estimated or not.
private com.irurueta.algebra.Matrix	initialGg	Initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
private double	initialMxy	Initial gyroscope x-y cross coupling error.
private double	initialMxz	Initial gyroscope x-z cross coupling error.
private double	initialMyx	Initial gyroscope y-x cross coupling error.
private double	initialMyz	Initial gyroscope y-z cross coupling error.
private double	initialMzx	Initial gyroscope z-x cross coupling error.
private double	initialMzy	Initial gyroscope z-y cross coupling error.
private double	initialSx	Initial gyroscope x scaling factor.
private double	initialSy	Initial gyroscope y scaling factor.
private double	initialSz	Initial gyroscope z scaling factor.
protected com.irurueta.numerical.robust.InliersData	inliersData	Data related to inliers found after calibration.
private final KnownBiasTurntableGyroscopeCalibrator	innerCalibrator	Inner non-robust calibrator.
private boolean	keepCovariance	Indicates whether covariance must be kept after refining result.
protected RobustKnownBiasTurntableGyroscopeCalibratorListener	listener	Listener to be notified of events such as when calibration starts, ends or its progress significantly changes.
static final double	MAX_CONFIDENCE	Maximum allowed confidence value.
static final float	MAX_PROGRESS_DELTA	Maximum allowed value for progress delta.
protected int	maxIterations	Maximum allowed number of iterations.
protected List<StandardDeviationBodyKinematics>	measurements	Contains a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
static final double	MIN_CONFIDENCE	Minimum allowed confidence value.
static final int	MIN_ITERATIONS	Minimum allowed number of iterations.
static final float	MIN_PROGRESS_DELTA	Minimum allowed value for progress delta.
private com.irurueta.navigation.frames.ECEFPosition	position	Position where body kinematics measures have been taken.
protected int	preliminarySubsetSize	Size of subsets to be checked during robust estimation.
protected float	progressDelta	Amount of progress variation before notifying a progress change during calibration.
protected boolean	refineResult	Indicates whether result must be refined using a non linear calibrator over found inliers.
protected boolean	running	Indicates whether calibrator is running.
private double	timeInterval	Time interval between measurements being captured expressed in second (s).
private double	turntableRotationRate	Constant rotation rate at which the turntable is spinning.

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	RobustKnownBiasTurntableGyroscopeCalibrator()	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected void	attemptRefine(RobustKnownBiasTurntableGyroscopeCalibrator.PreliminaryResult preliminaryResult)	Attempts to refine calibration parameters if refinement is requested.
protected double	computeError(StandardDeviationBodyKinematics measurement, RobustKnownBiasTurntableGyroscopeCalibrator.PreliminaryResult preliminaryResult)	Computes error of a preliminary result respect a given measurement.
protected void	computePreliminarySolutions(int[] samplesIndices, List<RobustKnownBiasTurntableGyroscopeCalibrator.PreliminaryResult> solutions)	Computes a preliminary solution for a subset of samples picked by a robust estimator.
private static double	convertAcceleration(com.irurueta.units.Acceleration acceleration)	Converts acceleration instance to meters per squared second.
private static double	convertAngularSpeed(double value, com.irurueta.units.AngularSpeedUnit unit)	Converts angular speed instance to radians per second (rad/s).
private static double	convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)	Converts angular speed instance to radians per second (rad/s).
private static com.irurueta.navigation.frames.ECEFPosition	convertPosition(com.irurueta.navigation.frames.NEDPosition position)	Converts provided NED position expressed in terms of latitude, longitude and height respect mean Earth surface, to position expressed in ECEF coordinates.
private static double	convertTime(com.irurueta.units.Time time)	Converts time instance to seconds.
static RobustKnownBiasTurntableGyroscopeCalibrator	create()	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.ECEFPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, boolean estimateGDependentCrossBiases, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, double[] accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, double[] bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.algebra.Matrix accelerometerBias, com.irurueta.algebra.Matrix accelerometerMa, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, RobustKnownBiasTurntableGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.navigation.frames.NEDPosition position, double turntableRotationRate, double timeInterval, List<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMg, com.irurueta.algebra.Matrix initialGg, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownBiasTurntableGyroscopeCalibrator	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
double[]	getAccelerometerBias()	Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	getAccelerometerBias(double[] result)	Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
com.irurueta.algebra.Matrix	getAccelerometerBiasAsMatrix()	Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	getAccelerometerBiasAsMatrix(com.irurueta.algebra.Matrix result)	Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerBiasX()	Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
com.irurueta.units.Acceleration	getAccelerometerBiasXAsAcceleration()	Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	getAccelerometerBiasXAsAcceleration(com.irurueta.units.Acceleration result)	Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerBiasY()	Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
com.irurueta.units.Acceleration	getAccelerometerBiasYAsAcceleration()	Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	getAccelerometerBiasYAsAcceleration(com.irurueta.units.Acceleration result)	Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerBiasZ()	Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
com.irurueta.units.Acceleration	getAccelerometerBiasZAsAcceleration()	Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	getAccelerometerBiasZAsAcceleration(com.irurueta.units.Acceleration result)	Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
com.irurueta.algebra.Matrix	getAccelerometerMa()	Gets known accelerometer scale factors and cross coupling errors matrix.
void	getAccelerometerMa(com.irurueta.algebra.Matrix result)	Gets known accelerometer scale factors and cross coupling errors matrix.
double	getAccelerometerMxy()	Gets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerMxz()	Gets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerMyx()	Gets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerMyz()	Gets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerMzx()	Gets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerMzy()	Gets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerSx()	Gets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerSy()	Gets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double	getAccelerometerSz()	Gets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
double[]	getBias()	Gets known gyroscope bias.
void	getBias(double[] result)	Gets known gyroscope bias.
com.irurueta.units.AngularSpeed	getBiasAngularSpeedX()	Gets known x-coordinate of gyroscope bias.
void	getBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)	Gets known x-coordinate of gyroscope bias.
com.irurueta.units.AngularSpeed	getBiasAngularSpeedY()	Gets known y-coordinate of gyroscope bias.
void	getBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)	Gets known y-coordinate of gyroscope bias.
com.irurueta.units.AngularSpeed	getBiasAngularSpeedZ()	Gets known z-coordinate of gyroscope bias.
void	getBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)	Gets known z-coordinate of gyroscope bias.
com.irurueta.algebra.Matrix	getBiasAsMatrix()	Gets known gyroscope bias as a column matrix.
void	getBiasAsMatrix(com.irurueta.algebra.Matrix result)	Gets known gyroscope bias as a column matrix.
AngularSpeedTriad	getBiasAsTriad()	Gets known gyroscope bias.
void	getBiasAsTriad(AngularSpeedTriad result)	Gets known gyroscope bias.
double	getBiasX()	Gets known x-coordinate of gyroscope bias.
double	getBiasY()	Gets known y-coordinate of gyroscope bias.
double	getBiasZ()	Gets known z-coordinate of gyroscope bias.
double	getConfidence()	Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).
com.irurueta.navigation.frames.ECEFPosition	getEcefPosition()	Gets position where body kinematics measures have been taken expressed in ECEF coordinates.
double	getEstimatedChiSq()	Gets estimated chi square value.
int	getEstimatedChiSqDegreesOfFreedom()	Gets estimated chi square degrees of freedom.
com.irurueta.algebra.Matrix	getEstimatedCovariance()	Gets estimated covariance matrix for estimated parameters.
com.irurueta.algebra.Matrix	getEstimatedGg()	Gets estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
com.irurueta.algebra.Matrix	getEstimatedMg()	Gets estimated gyroscope scale factors and cross coupling errors.
double	getEstimatedMse()	Gets estimated mean square error respect to provided measurements.
Double	getEstimatedMxy()	Gets estimated gyroscope x-y cross-coupling error.
Double	getEstimatedMxz()	Gets estimated gyroscope x-z cross-coupling error.
Double	getEstimatedMyx()	Gets estimated gyroscope y-x cross-coupling error.
Double	getEstimatedMyz()	Gets estimated gyroscope y-z cross-coupling error.
Double	getEstimatedMzx()	Gets estimated gyroscope z-x cross-coupling error.
Double	getEstimatedMzy()	Gets estimated gyroscope z-y cross-coupling error.
double	getEstimatedP()	Gets estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0.
double	getEstimatedQ()	Gets estimated measure of quality of estimated fit as a value between 0.0 and 1.0.
double	getEstimatedReducedChiSq()	Gets estimated reduced chi square value.
Double	getEstimatedSx()	Gets estimated gyroscope x-axis scale factor.
Double	getEstimatedSy()	Gets estimated gyroscope y-axis scale factor.
Double	getEstimatedSz()	Gets estimated gyroscope z-axis scale factor.
com.irurueta.algebra.Matrix	getInitialGg()	Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
void	getInitialGg(com.irurueta.algebra.Matrix result)	Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
com.irurueta.algebra.Matrix	getInitialMg()	Gets initial gyroscope scale factors and cross coupling errors matrix.
void	getInitialMg(com.irurueta.algebra.Matrix result)	Gets initial gyroscope scale factors and cross coupling errors matrix.
double	getInitialMxy()	Gets initial x-y cross coupling error of gyroscope.
double	getInitialMxz()	Gets initial x-z cross coupling error of gyroscope.
double	getInitialMyx()	Gets initial y-x cross coupling error of gyroscope.
double	getInitialMyz()	Gets initial y-z cross coupling error of gyroscope.
double	getInitialMzx()	Gets initial z-x cross coupling error of gyroscope.
double	getInitialMzy()	Gets initial z-y cross coupling error of gyroscope.
double	getInitialSx()	Gets initial x scaling factor of gyroscope.
double	getInitialSy()	Gets initial y scaling factor of gyroscope.
double	getInitialSz()	Gets initial z scaling factor of gyroscope.
com.irurueta.numerical.robust.InliersData	getInliersData()	Gets data related to inliers found after estimation.
RobustKnownBiasTurntableGyroscopeCalibratorListener	getListener()	Gets listener to handle events raised by this estimator.
int	getMaxIterations()	Returns maximum allowed number of iterations.
GyroscopeCalibratorMeasurementOrSequenceType	getMeasurementOrSequenceType()	Indicates the type of measurement or sequence used by this calibrator.
List<StandardDeviationBodyKinematics>	getMeasurements()	Gets a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
abstract com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
int	getMinimumRequiredMeasurementsOrSequences()	Gets minimum number of required measurements.
com.irurueta.navigation.frames.NEDPosition	getNedPosition()	Gets position where body kinematics measures have been taken expressed in NED coordinates.
boolean	getNedPosition(com.irurueta.navigation.frames.NEDPosition result)	Gets position where body kinematics measures have been taken expressed in NED coordinates.
int	getPreliminarySubsetSize()	Gets size of subsets to be checked during robust estimation.
float	getProgressDelta()	Returns amount of progress variation before notifying a progress change during calibration.
double[]	getQualityScores()	Returns quality scores corresponding to each measurement.
double	getTimeInterval()	Gets time interval between measurements being captured expressed in seconds (s).
com.irurueta.units.Time	getTimeIntervalAsTime()	Gets time interval between measurements being captured.
void	getTimeIntervalAsTime(com.irurueta.units.Time result)	Gets time interval between measurements being captured.
double	getTurntableRotationRate()	Gets constant rotation rate at which the turntable is spinning.
com.irurueta.units.AngularSpeed	getTurntableRotationRateAsAngularSpeed()	Gets constant rotation rate at which the turntable is spinning.
void	getTurntableRotationRateAsAngularSpeed(com.irurueta.units.AngularSpeed result)	Gets constant rotation rate at which the turntable is spinning.
boolean	isCommonAxisUsed()	Indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
boolean	isCovarianceKept()	Indicates whether covariance must be kept after refining result.
boolean	isGDependentCrossBiasesEstimated()	Indicates whether G-dependent cross biases are being estimated or not.
boolean	isOrderedMeasurementsOrSequencesRequired()	Indicates whether this calibrator requires ordered measurements or sequences in a list or not.
boolean	isReady()	Indicates whether calibrator is ready to start.
boolean	isResultRefined()	Indicates whether result must be refined using a non-linear solver over found inliers.
boolean	isRunning()	Indicates whether calibrator is currently running or not.
void	setAccelerometerBias(double[] accelerometerBias)	Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBias(double accelerometerBiasX, double accelerometerBiasY, double accelerometerBiasZ)	Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBias(com.irurueta.algebra.Matrix accelerometerBias)	Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBias(com.irurueta.units.Acceleration accelerometerBiasX, com.irurueta.units.Acceleration accelerometerBiasY, com.irurueta.units.Acceleration accelerometerBiasZ)	Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasX(double accelerometerBiasX)	Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasX(com.irurueta.units.Acceleration accelerometerBiasX)	Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasY(double accelerometerBiasY)	Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasY(com.irurueta.units.Acceleration accelerometerBiasY)	Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasZ(double accelerometerBiasZ)	Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerBiasZ(com.irurueta.units.Acceleration accelerometerBiasZ)	Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerCrossCouplingErrors(double accelerometerMxy, double accelerometerMxz, double accelerometerMyx, double accelerometerMyz, double accelerometerMzx, double accelerometerMzy)	Sets known accelerometer cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMa(com.irurueta.algebra.Matrix accelerometerMa)	Sets known accelerometer scale factors and cross coupling errors matrix.
void	setAccelerometerMxy(double accelerometerMxy)	Sets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMxz(double accelerometerMxz)	Sets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMyx(double accelerometerMyx)	Sets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMyz(double accelerometerMyz)	Sets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMzx(double accelerometerMzx)	Sets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerMzy(double accelerometerMzy)	Sets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerScalingFactors(double accelerometerSx, double accelerometerSy, double accelerometerSz)	Sets known accelerometer scaling factors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerScalingFactorsAndCrossCouplingErrors(double accelerometerSx, double accelerometerSy, double accelerometerSz, double accelerometerMxy, double accelerometerMxz, double accelerometerMyx, double accelerometerMyz, double accelerometerMzx, double accelerometerMzy)	Sets known accelerometer scaling factors and cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerSx(double accelerometerSx)	Sets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerSy(double accelerometerSy)	Sets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setAccelerometerSz(double accelerometerSz)	Sets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.
void	setBias(double[] bias)	Sets known gyroscope bias.
void	setBias(com.irurueta.algebra.Matrix bias)	Sets known gyroscope bias as an array.
void	setBias(AngularSpeedTriad bias)	Sets known gyroscope bias.
void	setBiasCoordinates(double biasX, double biasY, double biasZ)	Sets known bias coordinates of gyroscope expressed in radians per second (rad/s).
void	setBiasCoordinates(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)	Sets known bias coordinates of gyroscope used to find a solution.
void	setBiasX(double biasX)	Sets known x-coordinate of gyroscope bias.
void	setBiasX(com.irurueta.units.AngularSpeed biasX)	Sets known x-coordinate of gyroscope bias.
void	setBiasY(double biasY)	Sets known y-coordinate of gyroscope bias.
void	setBiasY(com.irurueta.units.AngularSpeed biasY)	Sets known y-coordinate of gyroscope bias.
void	setBiasZ(double biasZ)	Sets known z-coordinate of gyroscope bias.
void	setBiasZ(com.irurueta.units.AngularSpeed biasZ)	Sets known z-coordinate of gyroscope bias.
void	setCommonAxisUsed(boolean commonAxisUsed)	Specifies whether z-axis is assumed to be common for accelerometer and gyroscope.
void	setConfidence(double confidence)	Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).
void	setCovarianceKept(boolean keepCovariance)	Specifies whether covariance must be kept after refining result.
void	setGDependentCrossBiasesEstimated(boolean estimateGDependentCrossBiases)	Specifies whether G-dependent cross biases are being estimated or not.
void	setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial cross coupling errors of gyroscope.
void	setInitialGg(com.irurueta.algebra.Matrix initialGg)	Sets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.
void	setInitialMg(com.irurueta.algebra.Matrix initialMg)	Sets initial gyroscope scale factors and cross coupling errors matrix.
void	setInitialMxy(double initialMxy)	Sets initial x-y cross coupling error of gyroscope.
void	setInitialMxz(double initialMxz)	Sets initial x-z cross coupling error of gyroscope.
void	setInitialMyx(double initialMyx)	Sets initial y-x cross coupling error of gyroscope.
void	setInitialMyz(double initialMyz)	Sets initial y-z cross coupling error of gyroscope.
void	setInitialMzx(double initialMzx)	Sets initial z-x cross coupling error of gyroscope.
void	setInitialMzy(double initialMzy)	Sets initial z-y cross coupling error of gyroscope.
void	setInitialScalingFactors(double initialSx, double initialSy, double initialSz)	Sets initial scaling factors of gyroscope.
void	setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial scaling factors and cross coupling errors of gyroscope.
void	setInitialSx(double initialSx)	Sets initial x scaling factor of gyroscope.
void	setInitialSy(double initialSy)	Sets initial y scaling factor of gyroscope.
void	setInitialSz(double initialSz)	Sets initial z scaling factor of gyroscope.
void	setListener(RobustKnownBiasTurntableGyroscopeCalibratorListener listener)	Sets listener to handle events raised by this estimator.
void	setMaxIterations(int maxIterations)	Sets maximum allowed number of iterations.
void	setMeasurements(List<StandardDeviationBodyKinematics> measurements)	Sets a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
void	setPosition(com.irurueta.navigation.frames.ECEFPosition position)	Gets position where body kinematics measures have been taken expressed in ECEF coordinates.
void	setPosition(com.irurueta.navigation.frames.NEDPosition position)	Sets position where body kinematics measures have been taken expressed in NED coordinates.
void	setPreliminarySubsetSize(int preliminarySubsetSize)	Sets size of subsets to be checked during robust estimation.
void	setProgressDelta(float progressDelta)	Sets amount of progress variation before notifying a progress change during calibration.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each measurement.
void	setResultRefined(boolean refineResult)	Specifies whether result must be refined using a non-linear solver over found inliers.
void	setTimeInterval(double timeInterval)	Sets time interval between measurements being captured expressed in seconds (s).
void	setTimeInterval(com.irurueta.units.Time timeInterval)	Sets time interval between measurements being captured.
void	setTurntableRotationRate(double turntableRotationRate)	Sets constant rotation rate at which the turntable is spinning.
void	setTurntableRotationRate(com.irurueta.units.AngularSpeed turntableRotationRate)	Sets constant rotation rate at which the turntable is spinning.

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeCalibrator

calibrate, isQualityScoresRequired

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:

• Constant Field Values

DEFAULT_ESTIMATE_G_DEPENDENT_CROSS_BIASES

public static final boolean DEFAULT_ESTIMATE_G_DEPENDENT_CROSS_BIASES

Indicates that by default G-dependent cross biases introduced by the accelerometer on the gyroscope are estimated.

See Also:

• Constant Field Values

DEFAULT_TURNTABLE_ROTATION_RATE

public static final double DEFAULT_TURNTABLE_ROTATION_RATE

Default turntable rotation rate.

See Also:

• Constant Field Values

DEFAULT_TIME_INTERVAL

public static final double DEFAULT_TIME_INTERVAL

Default time interval between measurements expressed in seconds (s). This is a typical value when we have 50 samples per second.

See Also:

• Constant Field Values

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 using a non-linear calibrator (which uses a Levenberg-Marquardt fitter).

See Also:

• Constant Field Values

DEFAULT_KEEP_COVARIANCE

public static final boolean DEFAULT_KEEP_COVARIANCE

Indicates that covariance is kept by default after refining result.

See Also:

• Constant Field Values

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:

• Constant Field Values

MIN_PROGRESS_DELTA

public static final float MIN_PROGRESS_DELTA

Minimum allowed value for progress delta.

See Also:

• Constant Field Values

MAX_PROGRESS_DELTA

public static final float MAX_PROGRESS_DELTA

Maximum allowed value for progress delta.

See Also:

• Constant Field Values

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:

• Constant Field Values

DEFAULT_MAX_ITERATIONS

public static final int DEFAULT_MAX_ITERATIONS

Default maximum allowed number of iterations.

See Also:

• Constant Field Values

MIN_CONFIDENCE

public static final double MIN_CONFIDENCE

Minimum allowed confidence value.

See Also:

• Constant Field Values

MAX_CONFIDENCE

public static final double MAX_CONFIDENCE

Maximum allowed confidence value.

See Also:

• Constant Field Values

MIN_ITERATIONS

public static final int MIN_ITERATIONS

Minimum allowed number of iterations.

See Also:

• Constant Field Values

accelerometerBiasX

private double accelerometerBiasX

Known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

accelerometerBiasY

private double accelerometerBiasY

Known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

accelerometerBiasZ

private double accelerometerBiasZ

Known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

accelerometerSx

private double accelerometerSx

Known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerSy

private double accelerometerSy

Known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerSz

private double accelerometerSz

Known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMxy

private double accelerometerMxy

Known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMxz

private double accelerometerMxz

Know accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMyx

private double accelerometerMyx

Known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMyz

private double accelerometerMyz

Known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMzx

private double accelerometerMzx

Known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

accelerometerMzy

private double accelerometerMzy

Known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

biasX

private double biasX

Known x-coordinate of gyroscope bias. This is expressed in radians per second (rad/s).

biasY

private double biasY

Known y-coordinate of gyroscope bias. This is expressed in radians per second (rad/s).

biasZ

private double biasZ

Known z-coordinate of gyroscope bias. This is expressed in radians per second (rad/s).

initialSx

private double initialSx

Initial gyroscope x scaling factor.

initialSy

private double initialSy

Initial gyroscope y scaling factor.

initialSz

private double initialSz

Initial gyroscope z scaling factor.

initialMxy

private double initialMxy

Initial gyroscope x-y cross coupling error.

initialMxz

private double initialMxz

Initial gyroscope x-z cross coupling error.

initialMyx

private double initialMyx

Initial gyroscope y-x cross coupling error.

initialMyz

private double initialMyz

Initial gyroscope y-z cross coupling error.

initialMzx

private double initialMzx

Initial gyroscope z-x cross coupling error.

initialMzy

private double initialMzy

Initial gyroscope z-y cross coupling error.

initialGg

private com.irurueta.algebra.Matrix initialGg

Initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

turntableRotationRate

private double turntableRotationRate

Constant rotation rate at which the turntable is spinning. This is expressed in radians per second (rad/s).

timeInterval

private double timeInterval

Time interval between measurements being captured expressed in second (s).

measurements

protected List<StandardDeviationBodyKinematics> measurements

Contains a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

position

private com.irurueta.navigation.frames.ECEFPosition position

Position where body kinematics measures have been taken.

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 Mg matrix.

estimateGDependentCrossBiases

private boolean estimateGDependentCrossBiases

This flag indicates whether G-dependent cross biases are being estimated or not. When enabled, this adds 9 variables from Gg matrix.

listener

protected RobustKnownBiasTurntableGyroscopeCalibratorListener listener

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

estimatedMg

private com.irurueta.algebra.Matrix estimatedMg

Estimated gyroscope scale factors and cross coupling errors. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So that:

     Mg = [sx    mxy  mxz] = Tg*Kg
          [myx   sy   myz]
          [mzx   mzy  sz ]
 

Where:

     Kg = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
 

and

     Tg = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
 

Hence:

     Mg = [sx    mxy  mxz] = Tg*Kg =  [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 gyroscope z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix becomes upper diagonal:

     Mg = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
 

Values of this matrix are unit-less.

estimatedGg

private com.irurueta.algebra.Matrix estimatedGg

Estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. This instance allows any 3x3 matrix.

estimatedCovariance

private com.irurueta.algebra.Matrix estimatedCovariance

Estimated covariance matrix for estimated parameters.

estimatedChiSq

private double estimatedChiSq

Estimated chi square value.

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.

estimatedMse

private double estimatedMse

Estimated mean square error respect to provided measurements.

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.

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.

keepCovariance

private boolean keepCovariance

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

innerCalibrator

private final KnownBiasTurntableGyroscopeCalibrator innerCalibrator

Inner non-robust calibrator.

Constructor Details

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator()

Constructor.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

RobustKnownBiasTurntableGyroscopeCalibrator

protected RobustKnownBiasTurntableGyroscopeCalibrator(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Constructor.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

Method Details

getAccelerometerBiasX

public double getAccelerometerBiasX()

Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

getAccelerometerBiasX in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known x-coordinate of accelerometer bias.

setAccelerometerBiasX

public void setAccelerometerBiasX(double accelerometerBiasX)
                           throws com.irurueta.navigation.LockedException

Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

setAccelerometerBiasX in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasX - known x-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBiasY

public double getAccelerometerBiasY()

Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

getAccelerometerBiasY in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known y-coordinate of accelerometer bias.

setAccelerometerBiasY

public void setAccelerometerBiasY(double accelerometerBiasY)
                           throws com.irurueta.navigation.LockedException

Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

setAccelerometerBiasY in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasY - known y-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBiasZ

public double getAccelerometerBiasZ()

Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

getAccelerometerBiasZ in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known z-coordinate of accelerometer bias.

setAccelerometerBiasZ

public void setAccelerometerBiasZ(double accelerometerBiasZ)
                           throws com.irurueta.navigation.LockedException

Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

setAccelerometerBiasZ in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasZ - known z-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBiasXAsAcceleration

public com.irurueta.units.Acceleration getAccelerometerBiasXAsAcceleration()

Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasXAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known x-coordinate of accelerometer bias.

getAccelerometerBiasXAsAcceleration

public void getAccelerometerBiasXAsAcceleration(com.irurueta.units.Acceleration result)

Gets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasXAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setAccelerometerBiasX

public void setAccelerometerBiasX(com.irurueta.units.Acceleration accelerometerBiasX)
                           throws com.irurueta.navigation.LockedException

Sets known x-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerBiasX in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasX - x-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBiasYAsAcceleration

public com.irurueta.units.Acceleration getAccelerometerBiasYAsAcceleration()

Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasYAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known y-coordinate of accelerometer bias.

getAccelerometerBiasYAsAcceleration

public void getAccelerometerBiasYAsAcceleration(com.irurueta.units.Acceleration result)

Gets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasYAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setAccelerometerBiasY

public void setAccelerometerBiasY(com.irurueta.units.Acceleration accelerometerBiasY)
                           throws com.irurueta.navigation.LockedException

Sets known y-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerBiasY in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasY - y-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBiasZAsAcceleration

public com.irurueta.units.Acceleration getAccelerometerBiasZAsAcceleration()

Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasZAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known z-coordinate of accelerometer bias.

getAccelerometerBiasZAsAcceleration

public void getAccelerometerBiasZAsAcceleration(com.irurueta.units.Acceleration result)

Gets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerBiasZAsAcceleration in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setAccelerometerBiasZ

public void setAccelerometerBiasZ(com.irurueta.units.Acceleration accelerometerBiasZ)
                           throws com.irurueta.navigation.LockedException

Sets known z-coordinate of accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerBiasZ in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasZ - z-coordinate of accelerometer bias.

Throws:

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

setAccelerometerBias

public void setAccelerometerBias(double accelerometerBiasX,
 double accelerometerBiasY,
 double accelerometerBiasZ)
                          throws com.irurueta.navigation.LockedException

Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasX - x-coordinate of accelerometer bias.

accelerometerBiasY - y-coordinate of accelerometer bias.

accelerometerBiasZ - z-coordinate of accelerometer bias.

Throws:

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

setAccelerometerBias

public void setAccelerometerBias(com.irurueta.units.Acceleration accelerometerBiasX,
 com.irurueta.units.Acceleration accelerometerBiasY,
 com.irurueta.units.Acceleration accelerometerBiasZ)
                          throws com.irurueta.navigation.LockedException

Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBiasX - x-coordinate of accelerometer bias.

accelerometerBiasY - y-coordinate of accelerometer bias.

accelerometerBiasZ - z-coordinate of accelerometer bias.

Throws:

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

getAccelerometerBias

public double[] getAccelerometerBias()

Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

getAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer bias.

getAccelerometerBias

public void getAccelerometerBias(double[] result)

Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

getAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided array does not have length 3.

setAccelerometerBias

public void setAccelerometerBias(double[] accelerometerBias)
                          throws com.irurueta.navigation.LockedException

Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBias - known accelerometer bias.

Throws:

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

IllegalArgumentException - if provided array does not have length 3.

getAccelerometerBiasAsMatrix

public com.irurueta.algebra.Matrix getAccelerometerBiasAsMatrix()

Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

getAccelerometerBiasAsMatrix in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer bias.

getAccelerometerBiasAsMatrix

public void getAccelerometerBiasAsMatrix(com.irurueta.algebra.Matrix result)

Gets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

getAccelerometerBiasAsMatrix in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

setAccelerometerBias

public void setAccelerometerBias(com.irurueta.algebra.Matrix accelerometerBias)
                          throws com.irurueta.navigation.LockedException

Sets known accelerometer bias to be used to fix measured specific force and find cross biases introduced by the accelerometer. This is expressed in meters per squared second (m/s^2).

Specified by:

setAccelerometerBias in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerBias - known accelerometer bias. Must be 3x1.

Throws:

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

IllegalArgumentException - if provided matrix is not 3x1.

getAccelerometerSx

public double getAccelerometerSx()

Gets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerSx in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer x scaling factor.

setAccelerometerSx

public void setAccelerometerSx(double accelerometerSx)
                        throws com.irurueta.navigation.LockedException

Sets known accelerometer x scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerSx in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerSx - known accelerometer x scaling factor.

Throws:

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

getAccelerometerSy

public double getAccelerometerSy()

Gets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerSy in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer y scaling factor.

setAccelerometerSy

public void setAccelerometerSy(double accelerometerSy)
                        throws com.irurueta.navigation.LockedException

Sets known accelerometer y scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerSy in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerSy - known accelerometer y scaling factor.

Throws:

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

getAccelerometerSz

public double getAccelerometerSz()

Gets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerSz in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer z scaling factor.

setAccelerometerSz

public void setAccelerometerSz(double accelerometerSz)
                        throws com.irurueta.navigation.LockedException

Sets known accelerometer z scaling factor to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerSz in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerSz - known accelerometer z scaling factor.

Throws:

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

getAccelerometerMxy

public double getAccelerometerMxy()

Gets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMxy in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer x-y cross coupling error.

setAccelerometerMxy

public void setAccelerometerMxy(double accelerometerMxy)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer x-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMxy in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMxy - known accelerometer x-y cross coupling error.

Throws:

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

getAccelerometerMxz

public double getAccelerometerMxz()

Gets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMxz in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer x-z cross coupling error.

setAccelerometerMxz

public void setAccelerometerMxz(double accelerometerMxz)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer x-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMxz in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMxz - known accelerometer x-z cross coupling error.

Throws:

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

getAccelerometerMyx

public double getAccelerometerMyx()

Gets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMyx in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer y-x cross coupling error.

setAccelerometerMyx

public void setAccelerometerMyx(double accelerometerMyx)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer y-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMyx in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMyx - known accelerometer y-x cross coupling error.

Throws:

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

getAccelerometerMyz

public double getAccelerometerMyz()

Gets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMyz in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer y-z cross coupling error.

setAccelerometerMyz

public void setAccelerometerMyz(double accelerometerMyz)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer y-z cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMyz in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMyz - known accelerometer y-z cross coupling error.

Throws:

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

getAccelerometerMzx

public double getAccelerometerMzx()

Gets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMzx in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer z-x cross coupling error.

setAccelerometerMzx

public void setAccelerometerMzx(double accelerometerMzx)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer z-x cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMzx in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMzx - known accelerometer z-x cross coupling error.

Throws:

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

getAccelerometerMzy

public double getAccelerometerMzy()

Gets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

getAccelerometerMzy in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer z-y cross coupling error.

setAccelerometerMzy

public void setAccelerometerMzy(double accelerometerMzy)
                         throws com.irurueta.navigation.LockedException

Sets known accelerometer z-y cross coupling error to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerMzy in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMzy - known accelerometer z-y cross coupling error.

Throws:

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

setAccelerometerScalingFactors

public void setAccelerometerScalingFactors(double accelerometerSx,
 double accelerometerSy,
 double accelerometerSz)
                                    throws com.irurueta.navigation.LockedException

Sets known accelerometer scaling factors to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerScalingFactors in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerSx - known accelerometer x scaling factor.

accelerometerSy - known accelerometer y scaling factor.

accelerometerSz - known accelerometer z scaling factor.

Throws:

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

setAccelerometerCrossCouplingErrors

public void setAccelerometerCrossCouplingErrors(double accelerometerMxy,
 double accelerometerMxz,
 double accelerometerMyx,
 double accelerometerMyz,
 double accelerometerMzx,
 double accelerometerMzy)
                                         throws com.irurueta.navigation.LockedException

Sets known accelerometer cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerCrossCouplingErrors in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMxy - known accelerometer x-y cross coupling error.

accelerometerMxz - known accelerometer x-z cross coupling error.

accelerometerMyx - known accelerometer y-x cross coupling error.

accelerometerMyz - known accelerometer y-z cross coupling error.

accelerometerMzx - known accelerometer z-x cross coupling error.

accelerometerMzy - known accelerometer z-y cross coupling error.

Throws:

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

setAccelerometerScalingFactorsAndCrossCouplingErrors

public void setAccelerometerScalingFactorsAndCrossCouplingErrors(double accelerometerSx,
 double accelerometerSy,
 double accelerometerSz,
 double accelerometerMxy,
 double accelerometerMxz,
 double accelerometerMyx,
 double accelerometerMyz,
 double accelerometerMzx,
 double accelerometerMzy)
                                                          throws com.irurueta.navigation.LockedException

Sets known accelerometer scaling factors and cross coupling errors to be used to fix measured specific force and find cross biases introduced by the accelerometer.

Specified by:

setAccelerometerScalingFactorsAndCrossCouplingErrors in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerSx - known accelerometer x scaling factor.

accelerometerSy - known accelerometer y scaling factor.

accelerometerSz - known accelerometer z scaling factor.

accelerometerMxy - known accelerometer x-y cross coupling error.

accelerometerMxz - known accelerometer x-z cross coupling error.

accelerometerMyx - known accelerometer y-x cross coupling error.

accelerometerMyz - known accelerometer y-z cross coupling error.

accelerometerMzx - known accelerometer z-x cross coupling error.

accelerometerMzy - known accelerometer z-y cross coupling error.

Throws:

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

getAccelerometerMa

public com.irurueta.algebra.Matrix getAccelerometerMa()

Gets known accelerometer scale factors and cross coupling errors matrix.

Specified by:

getAccelerometerMa in interface AccelerometerDependentGyroscopeCalibrator

Returns:

known accelerometer scale factors and cross coupling errors matrix.

getAccelerometerMa

public void getAccelerometerMa(com.irurueta.algebra.Matrix result)

Gets known accelerometer scale factors and cross coupling errors matrix.

Specified by:

getAccelerometerMa in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

result - instance where data will be stored.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

setAccelerometerMa

public void setAccelerometerMa(com.irurueta.algebra.Matrix accelerometerMa)
                        throws com.irurueta.navigation.LockedException

Sets known accelerometer scale factors and cross coupling errors matrix.

Specified by:

setAccelerometerMa in interface AccelerometerDependentGyroscopeCalibrator

Parameters:

accelerometerMa - known accelerometer scale factors and cross coupling errors matrix. Must be 3x3.

Throws:

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

IllegalArgumentException - if provided matrix is not 3x3.

getBiasX

public double getBiasX()

Gets known x-coordinate of gyroscope bias. This is expressed in radians per second (rad/s).

Specified by:

getBiasX in interface KnownBiasGyroscopeCalibrator

Returns:

known x-coordinate of gyroscope bias.

setBiasX

public void setBiasX(double biasX)
              throws com.irurueta.navigation.LockedException

Sets known x-coordinate of gyroscope bias. This is expressed in radians per second (rad/s).

Specified by:

setBiasX in interface KnownBiasGyroscopeCalibrator

Parameters:

biasX - known x-coordinate of gyroscope bias.

Throws:

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

getBiasY

public double getBiasY()

Gets known y-coordinate of gyroscope bias. This is expressed in radians per second (rad/s).

Specified by:

getBiasY in interface KnownBiasGyroscopeCalibrator

Returns:

known y-coordinate of gyroscope bias.

setBiasY

public void setBiasY(double biasY)
              throws com.irurueta.navigation.LockedException

Sets known y-coordinate of gyroscope bias. This is expressed in radians per second (rad/s).

Specified by:

setBiasY in interface KnownBiasGyroscopeCalibrator

Parameters:

biasY - known y-coordinate of gyroscope bias.

Throws:

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

getBiasZ

public double getBiasZ()

Gets known z-coordinate of gyroscope bias. This is expressed in radians per second (rad/s).

Specified by:

getBiasZ in interface KnownBiasGyroscopeCalibrator

Returns:

known z-coordinate of gyroscope bias.

setBiasZ

public void setBiasZ(double biasZ)
              throws com.irurueta.navigation.LockedException

Sets known z-coordinate of gyroscope bias. This is expressed in radians per second (rad/s).

Specified by:

setBiasZ in interface KnownBiasGyroscopeCalibrator

Parameters:

biasZ - known z-coordinate of gyroscope bias.

Throws:

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

getBiasAngularSpeedX

public com.irurueta.units.AngularSpeed getBiasAngularSpeedX()

Gets known x-coordinate of gyroscope bias.

Specified by:

getBiasAngularSpeedX in interface KnownBiasGyroscopeCalibrator

Returns:

known x-coordinate of gyroscope bias.

getBiasAngularSpeedX

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

Gets known x-coordinate of gyroscope bias.

Specified by:

getBiasAngularSpeedX in interface KnownBiasGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setBiasX

public void setBiasX(com.irurueta.units.AngularSpeed biasX)
              throws com.irurueta.navigation.LockedException

Sets known x-coordinate of gyroscope bias.

Specified by:

setBiasX in interface KnownBiasGyroscopeCalibrator

Parameters:

biasX - known x-coordinate of gyroscope bias.

Throws:

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

getBiasAngularSpeedY

public com.irurueta.units.AngularSpeed getBiasAngularSpeedY()

Gets known y-coordinate of gyroscope bias.

Specified by:

getBiasAngularSpeedY in interface KnownBiasGyroscopeCalibrator

Returns:

known y-coordinate of gyroscope bias.

getBiasAngularSpeedY

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

Gets known y-coordinate of gyroscope bias.

Specified by:

getBiasAngularSpeedY in interface KnownBiasGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setBiasY

public void setBiasY(com.irurueta.units.AngularSpeed biasY)
              throws com.irurueta.navigation.LockedException

Sets known y-coordinate of gyroscope bias.

Specified by:

setBiasY in interface KnownBiasGyroscopeCalibrator

Parameters:

biasY - known y-coordinate of gyroscope bias.

Throws:

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

getBiasAngularSpeedZ

public com.irurueta.units.AngularSpeed getBiasAngularSpeedZ()

Gets known z-coordinate of gyroscope bias.

Specified by:

getBiasAngularSpeedZ in interface KnownBiasGyroscopeCalibrator

Returns:

known z-coordinate of gyroscope bias.

getBiasAngularSpeedZ

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

Gets known z-coordinate of gyroscope bias.

Specified by:

getBiasAngularSpeedZ in interface KnownBiasGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setBiasZ

public void setBiasZ(com.irurueta.units.AngularSpeed biasZ)
              throws com.irurueta.navigation.LockedException

Sets known z-coordinate of gyroscope bias.

Specified by:

setBiasZ in interface KnownBiasGyroscopeCalibrator

Parameters:

biasZ - known z-coordinate of gyroscope bias.

Throws:

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

setBiasCoordinates

public void setBiasCoordinates(double biasX,
 double biasY,
 double biasZ)
                        throws com.irurueta.navigation.LockedException

Sets known bias coordinates of gyroscope expressed in radians per second (rad/s).

Specified by:

setBiasCoordinates in interface KnownBiasGyroscopeCalibrator

Parameters:

biasX - known x-coordinate of gyroscope bias.

biasY - known y-coordinate of gyroscope bias.

biasZ - known z-coordinate of gyroscope bias.

Throws:

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

setBiasCoordinates

public void setBiasCoordinates(com.irurueta.units.AngularSpeed biasX,
 com.irurueta.units.AngularSpeed biasY,
 com.irurueta.units.AngularSpeed biasZ)
                        throws com.irurueta.navigation.LockedException

Sets known bias coordinates of gyroscope used to find a solution.

Specified by:

setBiasCoordinates in interface KnownBiasGyroscopeCalibrator

Parameters:

biasX - known x-coordinate of gyroscope bias.

biasY - known y-coordinate of gyroscope bias.

biasZ - known z-coordinate of gyroscope bias.

Throws:

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

getBiasAsTriad

public AngularSpeedTriad getBiasAsTriad()

Gets known gyroscope bias.

Returns:

known gyroscope bias.

getBiasAsTriad

public void getBiasAsTriad(AngularSpeedTriad result)

Gets known gyroscope bias.

Parameters:

result - instance where result will be stored.

setBias

public void setBias(AngularSpeedTriad bias)
             throws com.irurueta.navigation.LockedException

Sets known gyroscope bias.

Parameters:

bias - gyroscope bias to be set.

Throws:

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

getInitialSx

public double getInitialSx()

Gets initial x scaling factor of gyroscope.

Specified by:

getInitialSx in interface GyroscopeNonLinearCalibrator

Returns:

initial x scaling factor of gyroscope.

setInitialSx

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

Sets initial x scaling factor of gyroscope.

Specified by:

setInitialSx in interface GyroscopeNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor of gyroscope.

Throws:

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

getInitialSy

public double getInitialSy()

Gets initial y scaling factor of gyroscope.

Specified by:

getInitialSy in interface GyroscopeNonLinearCalibrator

Returns:

initial y scaling factor of gyroscope.

setInitialSy

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

Sets initial y scaling factor of gyroscope.

Specified by:

setInitialSy in interface GyroscopeNonLinearCalibrator

Parameters:

initialSy - initial y scaling factor of gyroscope.

Throws:

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

getInitialSz

public double getInitialSz()

Gets initial z scaling factor of gyroscope.

Specified by:

getInitialSz in interface GyroscopeNonLinearCalibrator

Returns:

initial z scaling factor of gyroscope.

setInitialSz

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

Sets initial z scaling factor of gyroscope.

Specified by:

setInitialSz in interface GyroscopeNonLinearCalibrator

Parameters:

initialSz - initial z scaling factor of gyroscope.

Throws:

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

getInitialMxy

public double getInitialMxy()

Gets initial x-y cross coupling error of gyroscope.

Specified by:

getInitialMxy in interface GyroscopeNonLinearCalibrator

Returns:

initial x-y cross coupling error of gyroscope.

setInitialMxy

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

Sets initial x-y cross coupling error of gyroscope.

Specified by:

setInitialMxy in interface GyroscopeNonLinearCalibrator

Parameters:

initialMxy - initial x-y cross coupling error of gyroscope.

Throws:

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

getInitialMxz

public double getInitialMxz()

Gets initial x-z cross coupling error of gyroscope.

Specified by:

getInitialMxz in interface GyroscopeNonLinearCalibrator

Returns:

initial x-z cross coupling error of gyroscope.

setInitialMxz

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

Sets initial x-z cross coupling error of gyroscope.

Specified by:

setInitialMxz in interface GyroscopeNonLinearCalibrator

Parameters:

initialMxz - initial x-z cross coupling error of gyroscope.

Throws:

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

getInitialMyx

public double getInitialMyx()

Gets initial y-x cross coupling error of gyroscope.

Specified by:

getInitialMyx in interface GyroscopeNonLinearCalibrator

Returns:

initial y-x cross coupling error of gyroscope.

setInitialMyx

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

Sets initial y-x cross coupling error of gyroscope.

Specified by:

setInitialMyx in interface GyroscopeNonLinearCalibrator

Parameters:

initialMyx - initial y-x cross coupling error of gyroscope.

Throws:

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

getInitialMyz

public double getInitialMyz()

Gets initial y-z cross coupling error of gyroscope.

Specified by:

getInitialMyz in interface GyroscopeNonLinearCalibrator

Returns:

initial y-z cross coupling error of gyroscope.

setInitialMyz

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

Sets initial y-z cross coupling error of gyroscope.

Specified by:

setInitialMyz in interface GyroscopeNonLinearCalibrator

Parameters:

initialMyz - initial y-z cross coupling error of gyroscope.

Throws:

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

getInitialMzx

public double getInitialMzx()

Gets initial z-x cross coupling error of gyroscope.

Specified by:

getInitialMzx in interface GyroscopeNonLinearCalibrator

Returns:

initial z-x cross coupling error of gyroscope.

setInitialMzx

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

Sets initial z-x cross coupling error of gyroscope.

Specified by:

setInitialMzx in interface GyroscopeNonLinearCalibrator

Parameters:

initialMzx - initial z-x cross coupling error of gyroscope.

Throws:

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

getInitialMzy

public double getInitialMzy()

Gets initial z-y cross coupling error of gyroscope.

Specified by:

getInitialMzy in interface GyroscopeNonLinearCalibrator

Returns:

initial z-y cross coupling error of gyroscope.

setInitialMzy

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

Sets initial z-y cross coupling error of gyroscope.

Specified by:

setInitialMzy in interface GyroscopeNonLinearCalibrator

Parameters:

initialMzy - initial z-y cross coupling error of gyroscope.

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 of gyroscope.

Specified by:

setInitialScalingFactors in interface GyroscopeNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor of gyroscope.

initialSy - initial y scaling factor of gyroscope.

initialSz - initial z scaling factor of gyroscope.

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 of gyroscope.

Specified by:

setInitialCrossCouplingErrors in interface GyroscopeNonLinearCalibrator

Parameters:

initialMxy - initial x-y cross coupling error of gyroscope.

initialMxz - initial x-z cross coupling error of gyroscope.

initialMyx - initial y-x cross coupling error of gyroscope.

initialMyz - initial y-z cross coupling error of gyroscope.

initialMzx - initial z-x cross coupling error of gyroscope.

initialMzy - initial z-y cross coupling error of gyroscope.

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 of gyroscope.

Specified by:

setInitialScalingFactorsAndCrossCouplingErrors in interface GyroscopeNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor of gyroscope.

initialSy - initial y scaling factor of gyroscope.

initialSz - initial z scaling factor of gyroscope.

initialMxy - initial x-y cross coupling error of gyroscope.

initialMxz - initial x-z cross coupling error of gyroscope.

initialMyx - initial y-x cross coupling error of gyroscope.

initialMyz - initial y-z cross coupling error of gyroscope.

initialMzx - initial z-x cross coupling error of gyroscope.

initialMzy - initial z-y cross coupling error of gyroscope.

Throws:

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

getBias

public double[] getBias()

Gets known gyroscope bias. Array values are expressed in radians per second (rad/s).

Specified by:

getBias in interface KnownBiasGyroscopeCalibrator

Returns:

array containing coordinates of known gyroscope bias.

getBias

public void getBias(double[] result)

Gets known gyroscope bias. Array values are expressed in radians per second (rad/s).

Specified by:

getBias in interface KnownBiasGyroscopeCalibrator

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided array does not have length 3.

setBias

public void setBias(double[] bias)
             throws com.irurueta.navigation.LockedException

Sets known gyroscope bias. Array values are expressed in radians per second (rad/s).

Specified by:

setBias in interface KnownBiasGyroscopeCalibrator

Parameters:

bias - known bias to find a solution.

Throws:

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

IllegalArgumentException - if provided array does not have length 3.

getBiasAsMatrix

public com.irurueta.algebra.Matrix getBiasAsMatrix()

Gets known gyroscope bias as a column matrix.

Specified by:

getBiasAsMatrix in interface KnownBiasGyroscopeCalibrator

Returns:

known gyroscope bias as a column matrix.

getBiasAsMatrix

public void getBiasAsMatrix(com.irurueta.algebra.Matrix result)

Gets known gyroscope bias as a column matrix.

Specified by:

getBiasAsMatrix in interface KnownBiasGyroscopeCalibrator

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

setBias

public void setBias(com.irurueta.algebra.Matrix bias)
             throws com.irurueta.navigation.LockedException

Sets known gyroscope bias as an array.

Specified by:

setBias in interface KnownBiasGyroscopeCalibrator

Parameters:

bias - known gyroscope bias.

Throws:

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

IllegalArgumentException - if provided matrix is not 3x1.

getInitialMg

public com.irurueta.algebra.Matrix getInitialMg()

Gets initial gyroscope scale factors and cross coupling errors matrix.

Specified by:

getInitialMg in interface GyroscopeNonLinearCalibrator

Returns:

initial gyroscope scale factors and cross coupling errors matrix.

getInitialMg

public void getInitialMg(com.irurueta.algebra.Matrix result)

Gets initial gyroscope scale factors and cross coupling errors matrix.

Specified by:

getInitialMg in interface GyroscopeNonLinearCalibrator

Parameters:

result - instance where data will be stored.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

setInitialMg

public void setInitialMg(com.irurueta.algebra.Matrix initialMg)
                  throws com.irurueta.navigation.LockedException

Sets initial gyroscope scale factors and cross coupling errors matrix.

Specified by:

setInitialMg in interface GyroscopeNonLinearCalibrator

Parameters:

initialMg - 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.

getInitialGg

public com.irurueta.algebra.Matrix getInitialGg()

Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

Specified by:

getInitialGg in interface GyroscopeNonLinearCalibrator

Returns:

a 3x3 matrix containing initial g-dependent cross biases.

getInitialGg

public void getInitialGg(com.irurueta.algebra.Matrix result)

Gets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

Specified by:

getInitialGg in interface GyroscopeNonLinearCalibrator

Parameters:

result - instance where data will be stored.

Throws:

IllegalArgumentException - if provided matrix is not 3x3.

setInitialGg

public void setInitialGg(com.irurueta.algebra.Matrix initialGg)
                  throws com.irurueta.navigation.LockedException

Sets initial G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer.

Specified by:

setInitialGg in interface GyroscopeNonLinearCalibrator

Parameters:

initialGg - g-dependent cross biases.

Throws:

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

IllegalArgumentException - if provided matrix is not 3x3.

getTurntableRotationRate

public double getTurntableRotationRate()

Gets constant rotation rate at which the turntable is spinning. This is expressed in radians per second (rad/s).

Returns:

constant rotation rate of turntable.

setTurntableRotationRate

public void setTurntableRotationRate(double turntableRotationRate)
                              throws com.irurueta.navigation.LockedException

Sets constant rotation rate at which the turntable is spinning. This is expressed in radians per second (rad/s).

Parameters:

turntableRotationRate - constant rotation rate of turntable.

Throws:

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

IllegalArgumentException - if provided value is zero or negative.

getTurntableRotationRateAsAngularSpeed

public com.irurueta.units.AngularSpeed getTurntableRotationRateAsAngularSpeed()

Gets constant rotation rate at which the turntable is spinning.

Returns:

constant rotation rate of turntable.

getTurntableRotationRateAsAngularSpeed

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

Gets constant rotation rate at which the turntable is spinning.

Parameters:

result - instance where result will be stored.

setTurntableRotationRate

public void setTurntableRotationRate(com.irurueta.units.AngularSpeed turntableRotationRate)
                              throws com.irurueta.navigation.LockedException

Sets constant rotation rate at which the turntable is spinning.

Parameters:

turntableRotationRate - constant rotation rate of turntable.

Throws:

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

IllegalArgumentException - if provided value is zero or negative.

getTimeInterval

public double getTimeInterval()

Gets time interval between measurements being captured expressed in seconds (s).

Returns:

time interval between measurements.

setTimeInterval

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

Sets time interval between measurements being captured expressed in seconds (s).

Parameters:

timeInterval - time interval between measurements.

Throws:

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

IllegalArgumentException - if provided value is zero or negative.

getTimeIntervalAsTime

public com.irurueta.units.Time getTimeIntervalAsTime()

Gets time interval between measurements being captured.

Returns:

time interval between measurements.

getTimeIntervalAsTime

public void getTimeIntervalAsTime(com.irurueta.units.Time result)

Gets time interval between measurements being captured.

Parameters:

result - instance where result will be stored.

setTimeInterval

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

Sets time interval between measurements being captured.

Parameters:

timeInterval - time interval between measurements.

Throws:

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

getMeasurements

public List<StandardDeviationBodyKinematics> getMeasurements()

Gets a collection 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 OrderedStandardDeviationBodyKinematicsGyroscopeCalibrator

Returns:

collection of body kinematics measurements at a known position with unknown orientations.

setMeasurements

public void setMeasurements(List<StandardDeviationBodyKinematics> measurements)
                     throws com.irurueta.navigation.LockedException

Sets a collection 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 OrderedStandardDeviationBodyKinematicsGyroscopeCalibrator

Parameters:

measurements - collection of body kinematics measurements at a known position with unknown orientations.

Throws:

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

getEcefPosition

public com.irurueta.navigation.frames.ECEFPosition getEcefPosition()

Gets position where body kinematics measures have been taken expressed in ECEF coordinates.

Returns:

position where body kinematics measures have been taken.

setPosition

public void setPosition(com.irurueta.navigation.frames.ECEFPosition position)
                 throws com.irurueta.navigation.LockedException

Gets position where body kinematics measures have been taken expressed in ECEF coordinates.

Parameters:

position - position where body kinematics measures have been taken.

Throws:

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

getNedPosition

public com.irurueta.navigation.frames.NEDPosition getNedPosition()

Gets position where body kinematics measures have been taken expressed in NED coordinates.

Returns:

position where body kinematics measures have been taken or null if not available.

getNedPosition

public boolean getNedPosition(com.irurueta.navigation.frames.NEDPosition result)

Gets position where body kinematics measures have been taken expressed in NED coordinates.

Parameters:

result - instance where result will be stored.

Returns:

true if NED position could be computed, false otherwise.

setPosition

public void setPosition(com.irurueta.navigation.frames.NEDPosition position)
                 throws com.irurueta.navigation.LockedException

Sets position where body kinematics measures have been taken expressed in NED coordinates.

Parameters:

position - position where body kinematics measures have been taken.

Throws:

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

getMeasurementOrSequenceType

public GyroscopeCalibratorMeasurementOrSequenceType getMeasurementOrSequenceType()

Indicates the type of measurement or sequence used by this calibrator.

Specified by:

getMeasurementOrSequenceType in interface GyroscopeCalibrator

Returns:

type of measurement or sequence used by this calibrator.

isOrderedMeasurementsOrSequencesRequired

public boolean isOrderedMeasurementsOrSequencesRequired()

Indicates whether this calibrator requires ordered measurements or sequences in a list or not.

Specified by:

isOrderedMeasurementsOrSequencesRequired in interface GyroscopeCalibrator

Returns:

true if measurements or sequences 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 GyroscopeCalibrator

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 GyroscopeCalibrator

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.

isGDependentCrossBiasesEstimated

public boolean isGDependentCrossBiasesEstimated()

Indicates whether G-dependent cross biases are being estimated or not. When enabled, this adds 9 variables from Gg matrix.

Returns:

true if G-dependent cross biases will be estimated, false otherwise.

setGDependentCrossBiasesEstimated

public void setGDependentCrossBiasesEstimated(boolean estimateGDependentCrossBiases)
                                       throws com.irurueta.navigation.LockedException

Specifies whether G-dependent cross biases are being estimated or not. When enabled, this adds 9 variables from Gg matrix.

Parameters:

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

Throws:

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

getListener

public RobustKnownBiasTurntableGyroscopeCalibratorListener getListener()

Gets listener to handle events raised by this estimator.

Returns:

listener to handle events raised by this estimator.

setListener

public void setListener(RobustKnownBiasTurntableGyroscopeCalibratorListener 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.

getMinimumRequiredMeasurementsOrSequences

public int getMinimumRequiredMeasurementsOrSequences()

Gets minimum number of required measurements.

Specified by:

getMinimumRequiredMeasurementsOrSequences in interface GyroscopeCalibrator

Returns:

minimum number of required measurements.

isReady

public boolean isReady()

Indicates whether calibrator is ready to start.

Specified by:

isReady in interface GyroscopeCalibrator

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 GyroscopeCalibrator

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 QualityScoredGyroscopeCalibrator

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 QualityScoredGyroscopeCalibrator

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.

getEstimatedMg

public com.irurueta.algebra.Matrix getEstimatedMg()

Gets estimated gyroscope scale factors and cross coupling errors. This is the product of matrix Tg containing cross coupling errors and Kg containing scaling factors. So that:

     Mg = [sx    mxy  mxz] = Tg*Kg
          [myx   sy   myz]
          [mzx   mzy  sz ]
 

Where:

     Kg = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
 

and

     Tg = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
 

Hence:

     Mg = [sx    mxy  mxz] = Tg*Kg =  [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 gyroscope z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix becomes upper diagonal:

     Mg = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
 

Values of this matrix are unit-less.

Specified by:

getEstimatedMg in interface GyroscopeCalibrator

Returns:

estimated gyroscope scale factors and cross coupling errors, or null if not available.

getEstimatedSx

public Double getEstimatedSx()

Gets estimated gyroscope x-axis scale factor.

Specified by:

getEstimatedSx in interface GyroscopeCalibrator

Returns:

estimated gyroscope x-axis scale factor or null if not available.

getEstimatedSy

public Double getEstimatedSy()

Gets estimated gyroscope y-axis scale factor.

Specified by:

getEstimatedSy in interface GyroscopeCalibrator

Returns:

estimated gyroscope y-axis scale factor or null if not available.

getEstimatedSz

public Double getEstimatedSz()

Gets estimated gyroscope z-axis scale factor.

Specified by:

getEstimatedSz in interface GyroscopeCalibrator

Returns:

estimated gyroscope z-axis scale factor or null if not available.

getEstimatedMxy

public Double getEstimatedMxy()

Gets estimated gyroscope x-y cross-coupling error.

Specified by:

getEstimatedMxy in interface GyroscopeCalibrator

Returns:

estimated gyroscope x-y cross-coupling error or null if not available.

getEstimatedMxz

public Double getEstimatedMxz()

Gets estimated gyroscope x-z cross-coupling error.

Specified by:

getEstimatedMxz in interface GyroscopeCalibrator

Returns:

estimated gyroscope x-z cross-coupling error or null if not available.

getEstimatedMyx

public Double getEstimatedMyx()

Gets estimated gyroscope y-x cross-coupling error.

Specified by:

getEstimatedMyx in interface GyroscopeCalibrator

Returns:

estimated gyroscope y-x cross-coupling error or null if not available.

getEstimatedMyz

public Double getEstimatedMyz()

Gets estimated gyroscope y-z cross-coupling error.

Specified by:

getEstimatedMyz in interface GyroscopeCalibrator

Returns:

estimated gyroscope y-z cross-coupling error or null if not available.

getEstimatedMzx

public Double getEstimatedMzx()

Gets estimated gyroscope z-x cross-coupling error.

Specified by:

getEstimatedMzx in interface GyroscopeCalibrator

Returns:

estimated gyroscope z-x cross-coupling error or null if not available.

getEstimatedMzy

public Double getEstimatedMzy()

Gets estimated gyroscope z-y cross-coupling error.

Specified by:

getEstimatedMzy in interface GyroscopeCalibrator

Returns:

estimated gyroscope z-y cross-coupling error or null if not available.

getEstimatedGg

public com.irurueta.algebra.Matrix getEstimatedGg()

Gets estimated G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. This instance allows any 3x3 matrix.

Specified by:

getEstimatedGg in interface GyroscopeCalibrator

Returns:

estimated G-dependent cross biases.

getEstimatedCovariance

public com.irurueta.algebra.Matrix getEstimatedCovariance()

Gets estimated covariance matrix for estimated parameters. Diagonal elements of the matrix contains variance for the following parameters (following indicated order): sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy, gg11, gg21, gg31, gg12, gg22, gg32, gg13, gg23, gg33.

Specified by:

getEstimatedCovariance in interface GyroscopeNonLinearCalibrator

Returns:

estimated covariance matrix for estimated parameters.

getEstimatedChiSq

public double getEstimatedChiSq()

Gets estimated chi square value.

Specified by:

getEstimatedChiSq in interface GyroscopeNonLinearCalibrator

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 GyroscopeNonLinearCalibrator

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 GyroscopeNonLinearCalibrator

Returns:

estimated reduced chi square value

getEstimatedMse

public double getEstimatedMse()

Gets estimated mean square error respect to provided measurements.

Specified by:

getEstimatedMse in interface GyroscopeNonLinearCalibrator

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 GyroscopeNonLinearCalibrator

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 GyroscopeNonLinearCalibrator

Returns:

estimated measure of quality of estimated fit.

getPreliminarySubsetSize

public int getPreliminarySubsetSize()

Gets size of subsets to be checked during robust estimation. This has to be at least getMinimumRequiredMeasurementsOrSequences().

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 getMinimumRequiredMeasurementsOrSequences().

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 getMinimumRequiredMeasurementsOrSequences().

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 RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 10 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(double[] qualityScores,
 com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size, if either turntable rotation rate or time interval is zero or negative or if provided quality scores length is smaller than 7 samples.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create()

Creates a robust gyroscope calibrator using default robust method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.ECEFPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 double[] bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 double[] accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must have length 3 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

create

public static RobustKnownBiasTurntableGyroscopeCalibrator create(com.irurueta.navigation.frames.NEDPosition position,
 double turntableRotationRate,
 double timeInterval,
 List<StandardDeviationBodyKinematics> measurements,
 boolean commonAxisUsed,
 boolean estimateGDependentCrossBiases,
 com.irurueta.algebra.Matrix bias,
 com.irurueta.algebra.Matrix initialMg,
 com.irurueta.algebra.Matrix initialGg,
 com.irurueta.algebra.Matrix accelerometerBias,
 com.irurueta.algebra.Matrix accelerometerMa,
 RobustKnownBiasTurntableGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

position - position where body kinematics measures have been taken.

turntableRotationRate - constant rotation rate at which the turntable is spinning. Must be expressed in radians per second (rad/s).

timeInterval - time interval between measurements being captured expressed in seconds (s).

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.

estimateGDependentCrossBiases - true if G-dependent cross biases will be estimated, false otherwise.

bias - known gyroscope bias. This must be 3x1 and is expressed in radians per second (rad/s).

initialMg - initial gyroscope scale factors and cross coupling errors matrix. Must be 3x3.

initialGg - initial gyroscope G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer. Must be 3x3.

accelerometerBias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).

accelerometerMa - known accelerometer scale factors and cross coupling matrix. Must be 3x3.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

Throws:

IllegalArgumentException - if any of the provided values does not have proper size or if either turntable rotation rate or time interval is zero or negative.

computeError

protected double computeError(StandardDeviationBodyKinematics measurement,
 RobustKnownBiasTurntableGyroscopeCalibrator.PreliminaryResult preliminaryResult)

Computes error of a preliminary result respect a given measurement.

Parameters:

measurement - a measurement.

preliminaryResult - a preliminary result.

Returns:

computed error.

computePreliminarySolutions

protected void computePreliminarySolutions(int[] samplesIndices,
 List<RobustKnownBiasTurntableGyroscopeCalibrator.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(RobustKnownBiasTurntableGyroscopeCalibrator.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.

convertPosition

private static com.irurueta.navigation.frames.ECEFPosition convertPosition(com.irurueta.navigation.frames.NEDPosition position)

Converts provided NED position expressed in terms of latitude, longitude and height respect mean Earth surface, to position expressed in ECEF coordinates.

Parameters:

position - NED position to be converted.

Returns:

converted position expressed in ECEF coordinates.

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.

convertAngularSpeed

private static double convertAngularSpeed(double value,
 com.irurueta.units.AngularSpeedUnit unit)

Converts angular speed instance to radians per second (rad/s).

Parameters:

value - angular speed value.

unit - unit of angular speed value.

Returns:

converted value.

convertAngularSpeed

private static double convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)

Converts angular speed instance to radians per second (rad/s).

Parameters:

angularSpeed - angular speed instance to be converted.

Returns:

converted value.

convertTime

private static double convertTime(com.irurueta.units.Time time)

Converts time instance to seconds.

Parameters:

time - time instance to be converted.

Returns:

converted value.