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

Class RobustKnownFrameGyroscopeCalibrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownFrameGyroscopeCalibrator

All Implemented Interfaces:

GyroscopeCalibrator, GyroscopeNonLinearCalibrator, OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator, UnknownBiasGyroscopeCalibrator, UnknownBiasNonLinearGyroscopeCalibrator, GyroscopeBiasUncertaintySource, GyroscopeCalibrationSource

Direct Known Subclasses:

LMedSRobustKnownFrameGyroscopeCalibrator, MSACRobustKnownFrameGyroscopeCalibrator, PROMedSRobustKnownFrameGyroscopeCalibrator, PROSACRobustKnownFrameGyroscopeCalibrator, RANSACRobustKnownFrameGyroscopeCalibrator

public abstract class RobustKnownFrameGyroscopeCalibrator
extends Object
implements GyroscopeNonLinearCalibrator, UnknownBiasNonLinearGyroscopeCalibrator, GyroscopeCalibrationSource, GyroscopeBiasUncertaintySource, OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator

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

To use this calibrator at least 7 measurements at different known frames must be provided. In other words, accelerometer and gyroscope (i.e. body kinematics) samples must be obtained at 7 different positions, orientations and velocities (although typically velocities are always zero).

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	RobustKnownFrameGyroscopeCalibrator.PreliminaryResult	Internal class containing estimated preliminary result.

Field Summary

Fields

Modifier and Type	Field	Description
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_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_PRELIMINARY_SOLUTIONS	Indicates that by default preliminary solutions are refined.
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 boolean	DEFAULT_USE_COMMON_Z_AXIS	Indicates whether by default a common z-axis is assumed for both the accelerometer and gyroscope.
static final boolean	DEFAULT_USE_LINEAR_CALIBRATOR	Indicates that by default a linear calibrator is used for preliminary solution estimation.
private double[]	estimatedBiases	Estimated gyroscope biases for each IMU axis expressed in radians per second (rad/s).
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 of estimated position.
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 double	initialBiasX	Initial x-coordinate of gyroscope bias to be used to find a solution.
private double	initialBiasY	Initial y-coordinate of gyroscope bias to be used to find a solution.
private double	initialBiasZ	Initial z-coordinate of gyroscope bias to be used to find a solution.
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 x-y cross coupling error.
private double	initialMxz	Initial x-z cross coupling error.
private double	initialMyx	Initial y-x cross coupling error.
private double	initialMyz	Initial y-z cross coupling error.
private double	initialMzx	Initial z-x cross coupling error.
private double	initialMzy	Initial z-y cross coupling error.
private double	initialSx	Initial x scaling factor.
private double	initialSy	Initial y scaling factor.
private double	initialSz	Initial z scaling factor.
protected com.irurueta.numerical.robust.InliersData	inliersData	Data related to inliers found after calibration.
private boolean	keepCovariance	Indicates whether covariance must be kept after refining result.
private final KnownFrameGyroscopeLinearLeastSquaresCalibrator	linearCalibrator	A linear least squares calibrator.
protected RobustKnownFrameGyroscopeCalibratorListener	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<StandardDeviationFrameBodyKinematics>	measurements	Contains a list of body kinematics measurements taken at different frames (positions, orientations and velocities) 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.
static final int	MINIMUM_MEASUREMENTS	Required minimum number of measurements.
private final KnownFrameGyroscopeNonLinearLeastSquaresCalibrator	nonLinearCalibrator	A non-linear least squares calibrator.
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.
private boolean	refinePreliminarySolutions	Indicates whether preliminary solutions must be refined after an initial linear solution is found.
protected boolean	refineResult	Indicates whether result must be refined using a non linear calibrator over found inliers.
protected boolean	running	Indicates whether estimator is running.
private boolean	useLinearCalibrator	Indicates whether a linear calibrator is used or not for preliminary solutions.

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	RobustKnownFrameGyroscopeCalibrator()	Constructor.
protected	RobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed)	Constructor.
protected	RobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownFrameGyroscopeCalibrator(RobustKnownFrameGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)	Constructor.
protected	RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)	Constructor.
protected	RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)	Constructor.
protected	RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected void	attemptRefine(RobustKnownFrameGyroscopeCalibrator.PreliminaryResult preliminaryResult)	Attempts to refine calibration parameters if refinement is requested.
protected double	computeError(StandardDeviationFrameBodyKinematics measurement, RobustKnownFrameGyroscopeCalibrator.PreliminaryResult preliminaryResult)	Computes error of a preliminary result respect a given measurement.
protected void	computePreliminarySolutions(int[] samplesIndices, List<RobustKnownFrameGyroscopeCalibrator.PreliminaryResult> solutions)	Computes a preliminary solution for a subset of samples picked by a robust estimator.
private static double	convertAngularSpeed(double value, com.irurueta.units.AngularSpeedUnit unit)	Converts angular speed value and unit to radians per second.
private static double	convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)	Converts angular speed instance to radians per second.
static RobustKnownFrameGyroscopeCalibrator	create()	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(boolean commonAxisUsed)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, boolean commonAxisUsed)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, RobustKnownFrameGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements)	Creates a robust gyroscope calibrator using default robust method
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(RobustKnownFrameGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(List<StandardDeviationFrameBodyKinematics> measurements)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener)	Creates a robust gyroscope calibrator using default robust method.
static RobustKnownFrameGyroscopeCalibrator	create(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownFrameGyroscopeCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
static RobustKnownFrameGyroscopeCalibrator	create(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust gyroscope calibrator.
double	getConfidence()	Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).
com.irurueta.units.AngularSpeed	getEstimatedBiasAngularSpeedX()	Gets x coordinate of estimated gyroscope bias.
boolean	getEstimatedBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)	Gets x coordinate of estimated gyroscope bias.
com.irurueta.units.AngularSpeed	getEstimatedBiasAngularSpeedY()	Gets y coordinate of estimated gyroscope bias.
boolean	getEstimatedBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)	Gets y coordinate of estimated gyroscope bias.
com.irurueta.units.AngularSpeed	getEstimatedBiasAngularSpeedZ()	Gets z coordinate of estimated gyroscope bias.
boolean	getEstimatedBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)	Gets z coordinate of estimated gyroscope bias.
AngularSpeedTriad	getEstimatedBiasAsTriad()	Gets estimated gyroscope bias.
boolean	getEstimatedBiasAsTriad(AngularSpeedTriad result)	Gets estimated gyroscope bias.
double[]	getEstimatedBiases()	Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
boolean	getEstimatedBiases(double[] result)	Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
com.irurueta.algebra.Matrix	getEstimatedBiasesAsMatrix()	Gets column matrix containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
boolean	getEstimatedBiasesAsMatrix(com.irurueta.algebra.Matrix result)	Gets column matrix containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
AngularSpeedTriad	getEstimatedBiasStandardDeviation()	Gets standard deviation of estimated gyroscope bias coordinates.
boolean	getEstimatedBiasStandardDeviation(AngularSpeedTriad result)	Gets standard deviation of estimated gyroscope bias coordinates.
Double	getEstimatedBiasStandardDeviationAverage()	Gets average of estimated standard deviation of gyroscope bias coordinates expressed in radians per second (rad/s).
com.irurueta.units.AngularSpeed	getEstimatedBiasStandardDeviationAverageAsAngularSpeed()	Gets average of estimated standard deviation of gyroscope bias coordinates.
boolean	getEstimatedBiasStandardDeviationAverageAsAngularSpeed(com.irurueta.units.AngularSpeed result)	Gets average of estimated standard deviation of gyroscope bias coordinates.
Double	getEstimatedBiasStandardDeviationNorm()	Gets norm of estimated standard deviation of gyroscope bias expressed in radians per second (rad/s).
com.irurueta.units.AngularSpeed	getEstimatedBiasStandardDeviationNormAsAngularSpeed()	Gets norm of estimated standard deviation of gyroscope bias.
boolean	getEstimatedBiasStandardDeviationNormAsAngularSpeed(com.irurueta.units.AngularSpeed result)	Gets norm of estimated standard deviation of gyroscope bias coordinates.
Double	getEstimatedBiasX()	Gets x coordinate of estimated gyroscope bias expressed in radians per second (rad/s).
Double	getEstimatedBiasXStandardDeviation()	Gets standard deviation of estimated x coordinate of gyroscope bias expressed in radians per second (rad/s).
com.irurueta.units.AngularSpeed	getEstimatedBiasXStandardDeviationAsAngularSpeed()	Gets standard deviation of estimated x coordinate of gyroscope bias.
boolean	getEstimatedBiasXStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)	Gets standard deviation of estimated x coordinate of gyroscope bias.
Double	getEstimatedBiasXVariance()	Gets variance of estimated x coordinate of gyroscope bias expressed in (rad^2/s^2).
Double	getEstimatedBiasY()	Gets y coordinate of estimated gyroscope bias expressed in radians per second (rad/s).
Double	getEstimatedBiasYStandardDeviation()	Gets standard deviation of estimated y coordinate of gyroscope bias expressed in radians per second (rad/s).
com.irurueta.units.AngularSpeed	getEstimatedBiasYStandardDeviationAsAngularSpeed()	Gets standard deviation of estimated y coordinate of gyroscope bias.
boolean	getEstimatedBiasYStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)	Gets standard deviation of estimated y coordinate of gyroscope bias.
Double	getEstimatedBiasYVariance()	Gets variance of estimated y coordinate of gyroscope bias expressed in (rad^2/s^2).
Double	getEstimatedBiasZ()	Gets z coordinate of estimated gyroscope bias expressed in radians per second (rad/s).
Double	getEstimatedBiasZStandardDeviation()	Gets standard deviation of estimated z coordinate of gyroscope bias expressed in radians per second (rad/s).
com.irurueta.units.AngularSpeed	getEstimatedBiasZStandardDeviationAsAngularSpeed()	Gets standard deviation of estimated z coordinate of gyroscope bias.
boolean	getEstimatedBiasZStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)	Gets standard deviation of estimated z coordinate of gyroscope bias.
Double	getEstimatedBiasZVariance()	Gets variance of estimated z coordinate of gyroscope bias expressed in (rad^2/s^2).
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 calibration solution.
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 x-y cross-coupling error.
Double	getEstimatedMxz()	Gets estimated x-z cross-coupling error.
Double	getEstimatedMyx()	Gets estimated y-x cross-coupling error.
Double	getEstimatedMyz()	Gets estimated y-z cross-coupling error.
Double	getEstimatedMzx()	Gets estimated z-x cross-coupling error.
Double	getEstimatedMzy()	Gets estimated 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 x-axis scale factor.
Double	getEstimatedSy()	Gets estimated y-axis scale factor.
Double	getEstimatedSz()	Gets estimated z-axis scale factor.
double[]	getInitialBias()	Gets initial bias to be used to find a solution as an array.
void	getInitialBias(double[] result)	Gets initial bias to be used to find a solution as an array.
com.irurueta.units.AngularSpeed	getInitialBiasAngularSpeedX()	Gets initial x-coordinate of gyroscope bias to be used to find a solution.
void	getInitialBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)	Gets initial x-coordinate of gyroscope bias to be used to find a solution.
com.irurueta.units.AngularSpeed	getInitialBiasAngularSpeedY()	Gets initial y-coordinate of gyroscope bias to be used to find a solution.
void	getInitialBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)	Gets initial y-coordinate of gyroscope bias to be used to find a solution.
com.irurueta.units.AngularSpeed	getInitialBiasAngularSpeedZ()	Gets initial z-coordinate of gyroscope bias to be used to find a solution.
void	getInitialBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)	Gets initial z-coordinate of gyroscope bias to be used to find a solution.
com.irurueta.algebra.Matrix	getInitialBiasAsMatrix()	Gets initial bias to be used to find a solution as a column matrix.
void	getInitialBiasAsMatrix(com.irurueta.algebra.Matrix result)	Gets initial bias to be used to find a solution as a column matrix.
AngularSpeedTriad	getInitialBiasAsTriad()	Gets initial bias coordinates of gyroscope used to find a solution.
void	getInitialBiasAsTriad(AngularSpeedTriad result)	Gets initial bias coordinates of gyroscope used to find a solution.
double	getInitialBiasX()	Gets initial x-coordinate of gyroscope bias to be used to find a solutions.
double	getInitialBiasY()	Gets initial y-coordinate of gyroscope bias to be used to find a solution.
double	getInitialBiasZ()	Gets initial z-coordinate of gyroscope bias to be used to find a solution.
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 scale factors and cross coupling errors matrix.
void	getInitialMg(com.irurueta.algebra.Matrix result)	Gets initial scale factors and cross coupling errors matrix.
double	getInitialMxy()	Gets initial x-y cross coupling error.
double	getInitialMxz()	Gets initial x-z cross coupling error.
double	getInitialMyx()	Gets initial y-x cross coupling error.
double	getInitialMyz()	Gets initial y-z cross coupling error.
double	getInitialMzx()	Gets initial z-x cross coupling error.
double	getInitialMzy()	Gets initial z-y cross coupling error.
double	getInitialSx()	Gets initial x scaling factor.
double	getInitialSy()	Gets initial y scaling factor.
double	getInitialSz()	Gets initial z scaling factor.
com.irurueta.numerical.robust.InliersData	getInliersData()	Gets data related to inliers found after estimation.
RobustKnownFrameGyroscopeCalibratorListener	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<StandardDeviationFrameBodyKinematics>	getMeasurements()	Gets a list of body kinematics measurements taken at different frames (positions, orientations and velocities) 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.
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.
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	isLinearCalibratorUsed()	Indicates whether a linear calibrator is used or not for preliminary solutions.
boolean	isOrderedMeasurementsOrSequencesRequired()	Indicates whether this calibrator requires ordered measurements or sequences in a list or not.
boolean	isPreliminarySolutionRefined()	Indicates whether preliminary solutions must be refined after an initial linear solution is found.
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	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	setInitialBias(double[] initialBias)	Sets initial bias to be used to find a solution as an array.
void	setInitialBias(double initialBiasX, double initialBiasY, double initialBiasZ)	Sets initial bias coordinates of gyroscope used to find a solution expressed in radians per second (rad/s).
void	setInitialBias(com.irurueta.algebra.Matrix initialBias)	Sets initial bias to be used to find a solution as a column matrix with values expressed in radians per second (rad/s).
void	setInitialBias(AngularSpeedTriad initialBias)	Sets initial bias coordinates of gyroscope used to find a solution.
void	setInitialBias(com.irurueta.units.AngularSpeed initialBiasX, com.irurueta.units.AngularSpeed initialBiasY, com.irurueta.units.AngularSpeed initialBiasZ)	Sets initial bias coordinates of gyroscope used to find a solution.
void	setInitialBiasX(double initialBiasX)	Sets initial x-coordinate of gyroscope bias to be used to find a solution.
void	setInitialBiasX(com.irurueta.units.AngularSpeed initialBiasX)	Sets initial x-coordinate of gyroscope bias to be used to find a solution.
void	setInitialBiasY(double initialBiasY)	Sets initial y-coordinate of gyroscope bias to be used to find a solution.
void	setInitialBiasY(com.irurueta.units.AngularSpeed initialBiasY)	Sets initial y-coordinate of gyroscope bias to be used to find a solution.
void	setInitialBiasZ(double initialBiasZ)	Sets initial z-coordinate of gyroscope bias to be used to find a solution.
void	setInitialBiasZ(com.irurueta.units.AngularSpeed initialBiasZ)	Sets initial z-coordinate of gyroscope bias to be used to find a solution.
void	setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial cross coupling errors.
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 scale factors and cross coupling errors matrix.
void	setInitialMxy(double initialMxy)	Sets initial x-y cross coupling error.
void	setInitialMxz(double initialMxz)	Sets initial x-z cross coupling error.
void	setInitialMyx(double initialMyx)	Sets initial y-x cross coupling error.
void	setInitialMyz(double initialMyz)	Sets initial y-z cross coupling error.
void	setInitialMzx(double initialMzx)	Sets initial z-x cross coupling error.
void	setInitialMzy(double initialMzy)	Sets initial z-y cross coupling error.
void	setInitialScalingFactors(double initialSx, double initialSy, double initialSz)	Sets initial scaling factors.
void	setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)	Sets initial scaling factors and cross coupling errors.
void	setInitialSx(double initialSx)	Sets initial x scaling factor.
void	setInitialSy(double initialSy)	Sets initial y scaling factor.
void	setInitialSz(double initialSz)	Sets initial z scaling factor.
void	setLinearCalibratorUsed(boolean linearCalibratorUsed)	Specifies whether a linear calibrator is used or not for preliminary solutions.
void	setListener(RobustKnownFrameGyroscopeCalibratorListener listener)	Sets listener to handle events raised by this estimator.
void	setMaxIterations(int maxIterations)	Sets maximum allowed number of iterations.
void	setMeasurements(List<StandardDeviationFrameBodyKinematics> measurements)	Sets a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements.
void	setPreliminarySolutionRefined(boolean preliminarySolutionRefined)	Specifies whether preliminary solutions must be refined after an initial linear solution is found.
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.

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

MINIMUM_MEASUREMENTS

public static final int MINIMUM_MEASUREMENTS

Required minimum number of measurements.

See Also:

• Constant Field Values

DEFAULT_USE_LINEAR_CALIBRATOR

public static final boolean DEFAULT_USE_LINEAR_CALIBRATOR

Indicates that by default a linear calibrator is used for preliminary solution estimation. The result obtained on each preliminary solution might be later refined.

See Also:

• Constant Field Values

DEFAULT_REFINE_PRELIMINARY_SOLUTIONS

public static final boolean DEFAULT_REFINE_PRELIMINARY_SOLUTIONS

Indicates that by default preliminary solutions are refined.

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

measurements

protected List<StandardDeviationFrameBodyKinematics> measurements

Contains a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

listener

protected RobustKnownFrameGyroscopeCalibratorListener listener

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

running

protected boolean running

Indicates whether estimator is running.

progressDelta

protected float progressDelta

Amount of progress variation before notifying a progress change during calibration.

confidence

protected double confidence

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

maxIterations

protected int maxIterations

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

inliersData

protected com.irurueta.numerical.robust.InliersData inliersData

Data related to inliers found after calibration.

refineResult

protected boolean refineResult

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

preliminarySubsetSize

protected int preliminarySubsetSize

Size of subsets to be checked during robust estimation.

commonAxisUsed

private boolean commonAxisUsed

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

initialBiasX

private double initialBiasX

Initial x-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

initialBiasY

private double initialBiasY

Initial y-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

initialBiasZ

private double initialBiasZ

Initial z-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

initialSx

private double initialSx

Initial x scaling factor.

initialSy

private double initialSy

Initial y scaling factor.

initialSz

private double initialSz

Initial z scaling factor.

initialMxy

private double initialMxy

Initial x-y cross coupling error.

initialMxz

private double initialMxz

Initial x-z cross coupling error.

initialMyx

private double initialMyx

Initial y-x cross coupling error.

initialMyz

private double initialMyz

Initial y-z cross coupling error.

initialMzx

private double initialMzx

Initial z-x cross coupling error.

initialMzy

private double initialMzy

Initial z-y cross coupling error.

initialGg

private com.irurueta.algebra.Matrix initialGg

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

useLinearCalibrator

private boolean useLinearCalibrator

Indicates whether a linear calibrator is used or not for preliminary solutions.

refinePreliminarySolutions

private boolean refinePreliminarySolutions

Indicates whether preliminary solutions must be refined after an initial linear solution is found.

estimatedBiases

private double[] estimatedBiases

Estimated gyroscope biases for each IMU axis expressed in radians per second (rad/s).

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.

keepCovariance

private boolean keepCovariance

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

estimatedCovariance

private com.irurueta.algebra.Matrix estimatedCovariance

Estimated covariance of estimated position. This is only available when result has been refined and covariance is kept.

estimatedChiSq

private double estimatedChiSq

Estimated chi square value.

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.

linearCalibrator

private final KnownFrameGyroscopeLinearLeastSquaresCalibrator linearCalibrator

A linear least squares calibrator.

nonLinearCalibrator

private final KnownFrameGyroscopeNonLinearLeastSquaresCalibrator nonLinearCalibrator

A non-linear least squares calibrator.

Constructor Details

RobustKnownFrameGyroscopeCalibrator

protected RobustKnownFrameGyroscopeCalibrator()

Constructor.

RobustKnownFrameGyroscopeCalibrator

protected RobustKnownFrameGyroscopeCalibrator(RobustKnownFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

RobustKnownFrameGyroscopeCalibrator

protected RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

RobustKnownFrameGyroscopeCalibrator

protected RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 RobustKnownFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

RobustKnownFrameGyroscopeCalibrator

protected RobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed)

Constructor.

Parameters:

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

RobustKnownFrameGyroscopeCalibrator

protected RobustKnownFrameGyroscopeCalibrator(boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

RobustKnownFrameGyroscopeCalibrator

protected RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

RobustKnownFrameGyroscopeCalibrator

protected RobustKnownFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener listener)

Constructor.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

Method Details

getInitialBiasX

public double getInitialBiasX()

Gets initial x-coordinate of gyroscope bias to be used to find a solutions. This is expressed in radians per second (rad/s) and only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialBiasX in interface UnknownBiasNonLinearGyroscopeCalibrator

Returns:

initial x-coordinate of gyroscope bias.

setInitialBiasX

public void setInitialBiasX(double initialBiasX)
                     throws com.irurueta.navigation.LockedException

Sets initial x-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s) and only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialBiasX in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

initialBiasX - initial x-coordinate of gyroscope bias.

Throws:

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

getInitialBiasY

public double getInitialBiasY()

Gets initial y-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s) and only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialBiasY in interface UnknownBiasNonLinearGyroscopeCalibrator

Returns:

initial y-coordinate of gyroscope bias.

setInitialBiasY

public void setInitialBiasY(double initialBiasY)
                     throws com.irurueta.navigation.LockedException

Sets initial y-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s) and only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialBiasY in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

initialBiasY - initial y-coordinate of gyroscope bias.

Throws:

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

getInitialBiasZ

public double getInitialBiasZ()

Gets initial z-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s) and only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialBiasZ in interface UnknownBiasNonLinearGyroscopeCalibrator

Returns:

initial z-coordinate of gyroscope bias.

setInitialBiasZ

public void setInitialBiasZ(double initialBiasZ)
                     throws com.irurueta.navigation.LockedException

Sets initial z-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s) and only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialBiasZ in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

initialBiasZ - initial z-coordinate of gyroscope bias.

Throws:

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

getInitialBiasAngularSpeedX

public com.irurueta.units.AngularSpeed getInitialBiasAngularSpeedX()

Gets initial x-coordinate of gyroscope bias to be used to find a solution.

Specified by:

getInitialBiasAngularSpeedX in interface UnknownBiasNonLinearGyroscopeCalibrator

Returns:

initial x-coordinate of gyroscope bias.

getInitialBiasAngularSpeedX

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

Gets initial x-coordinate of gyroscope bias to be used to find a solution.

Specified by:

getInitialBiasAngularSpeedX in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setInitialBiasX

public void setInitialBiasX(com.irurueta.units.AngularSpeed initialBiasX)
                     throws com.irurueta.navigation.LockedException

Sets initial x-coordinate of gyroscope bias to be used to find a solution.

Specified by:

setInitialBiasX in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

initialBiasX - initial x-coordinate of gyroscope bias.

Throws:

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

getInitialBiasAngularSpeedY

public com.irurueta.units.AngularSpeed getInitialBiasAngularSpeedY()

Gets initial y-coordinate of gyroscope bias to be used to find a solution.

Specified by:

getInitialBiasAngularSpeedY in interface UnknownBiasNonLinearGyroscopeCalibrator

Returns:

initial y-coordinate of gyroscope bias.

getInitialBiasAngularSpeedY

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

Gets initial y-coordinate of gyroscope bias to be used to find a solution.

Specified by:

getInitialBiasAngularSpeedY in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setInitialBiasY

public void setInitialBiasY(com.irurueta.units.AngularSpeed initialBiasY)
                     throws com.irurueta.navigation.LockedException

Sets initial y-coordinate of gyroscope bias to be used to find a solution.

Specified by:

setInitialBiasY in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

initialBiasY - initial y-coordinate of gyroscope bias.

Throws:

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

getInitialBiasAngularSpeedZ

public com.irurueta.units.AngularSpeed getInitialBiasAngularSpeedZ()

Gets initial z-coordinate of gyroscope bias to be used to find a solution.

Specified by:

getInitialBiasAngularSpeedZ in interface UnknownBiasNonLinearGyroscopeCalibrator

Returns:

initial z-coordinate of gyroscope bias.

getInitialBiasAngularSpeedZ

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

Gets initial z-coordinate of gyroscope bias to be used to find a solution.

Specified by:

getInitialBiasAngularSpeedZ in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

setInitialBiasZ

public void setInitialBiasZ(com.irurueta.units.AngularSpeed initialBiasZ)
                     throws com.irurueta.navigation.LockedException

Sets initial z-coordinate of gyroscope bias to be used to find a solution.

Specified by:

setInitialBiasZ in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

initialBiasZ - initial z-coordinate of gyroscope bias.

Throws:

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

setInitialBias

public void setInitialBias(double initialBiasX,
 double initialBiasY,
 double initialBiasZ)
                    throws com.irurueta.navigation.LockedException

Sets initial bias coordinates of gyroscope used to find a solution expressed in radians per second (rad/s).

Specified by:

setInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

initialBiasX - initial x-coordinate of gyroscope bias.

initialBiasY - initial y-coordinate of gyroscope bias.

initialBiasZ - initial z-coordinate of gyroscope bias.

Throws:

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

setInitialBias

public void setInitialBias(com.irurueta.units.AngularSpeed initialBiasX,
 com.irurueta.units.AngularSpeed initialBiasY,
 com.irurueta.units.AngularSpeed initialBiasZ)
                    throws com.irurueta.navigation.LockedException

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

Specified by:

setInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

initialBiasX - initial x-coordinate of gyroscope bias.

initialBiasY - initial y-coordinate of gyroscope bias.

initialBiasZ - initial z-coordinate of gyroscope bias.

Throws:

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

getInitialSx

public double getInitialSx()

Gets initial x scaling factor. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialSx in interface GyroscopeNonLinearCalibrator

Returns:

initial x scaling factor.

setInitialSx

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

Sets initial x scaling factor. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialSx in interface GyroscopeNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor.

Throws:

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

getInitialSy

public double getInitialSy()

Gets initial y scaling factor. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialSy in interface GyroscopeNonLinearCalibrator

Returns:

initial y scaling factor.

setInitialSy

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

Sets initial y scaling factor. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialSy in interface GyroscopeNonLinearCalibrator

Parameters:

initialSy - initial y scaling factor.

Throws:

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

getInitialSz

public double getInitialSz()

Gets initial z scaling factor. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialSz in interface GyroscopeNonLinearCalibrator

Returns:

initial z scaling factor.

setInitialSz

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

Sets initial z scaling factor. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialSz in interface GyroscopeNonLinearCalibrator

Parameters:

initialSz - initial z scaling factor.

Throws:

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

getInitialMxy

public double getInitialMxy()

Gets initial x-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialMxy in interface GyroscopeNonLinearCalibrator

Returns:

initial x-y cross coupling error.

setInitialMxy

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

Sets initial x-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialMxy in interface GyroscopeNonLinearCalibrator

Parameters:

initialMxy - initial x-y cross coupling error.

Throws:

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

getInitialMxz

public double getInitialMxz()

Gets initial x-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialMxz in interface GyroscopeNonLinearCalibrator

Returns:

initial x-z cross coupling error.

setInitialMxz

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

Sets initial x-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialMxz in interface GyroscopeNonLinearCalibrator

Parameters:

initialMxz - initial x-z cross coupling error.

Throws:

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

getInitialMyx

public double getInitialMyx()

Gets initial y-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialMyx in interface GyroscopeNonLinearCalibrator

Returns:

initial y-x cross coupling error.

setInitialMyx

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

Sets initial y-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialMyx in interface GyroscopeNonLinearCalibrator

Parameters:

initialMyx - initial y-x cross coupling error.

Throws:

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

getInitialMyz

public double getInitialMyz()

Gets initial y-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialMyz in interface GyroscopeNonLinearCalibrator

Returns:

initial y-z cross coupling error.

setInitialMyz

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

Sets initial y-z cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialMyz in interface GyroscopeNonLinearCalibrator

Parameters:

initialMyz - initial y-z cross coupling error.

Throws:

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

getInitialMzx

public double getInitialMzx()

Gets initial z-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialMzx in interface GyroscopeNonLinearCalibrator

Returns:

initial z-x cross coupling error.

setInitialMzx

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

Sets initial z-x cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialMzx in interface GyroscopeNonLinearCalibrator

Parameters:

initialMzx - initial z-x cross coupling error.

Throws:

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

getInitialMzy

public double getInitialMzy()

Gets initial z-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

getInitialMzy in interface GyroscopeNonLinearCalibrator

Returns:

initial z-y cross coupling error.

setInitialMzy

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

Sets initial z-y cross coupling error. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialMzy in interface GyroscopeNonLinearCalibrator

Parameters:

initialMzy - initial z-y cross coupling error.

Throws:

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

setInitialScalingFactors

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

Sets initial scaling factors. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialScalingFactors in interface GyroscopeNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor.

initialSy - initial y scaling factor.

initialSz - initial z scaling factor.

Throws:

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

setInitialCrossCouplingErrors

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

Sets initial cross coupling errors. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialCrossCouplingErrors in interface GyroscopeNonLinearCalibrator

Parameters:

initialMxy - initial x-y cross coupling error.

initialMxz - initial x-z cross coupling error.

initialMyx - initial y-x cross coupling error.

initialMyz - initial y-z cross coupling error.

initialMzx - initial z-x cross coupling error.

initialMzy - initial z-y cross coupling error.

Throws:

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

setInitialScalingFactorsAndCrossCouplingErrors

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

Sets initial scaling factors and cross coupling errors. This is only taken into account if non-linear preliminary solutions are used.

Specified by:

setInitialScalingFactorsAndCrossCouplingErrors in interface GyroscopeNonLinearCalibrator

Parameters:

initialSx - initial x scaling factor.

initialSy - initial y scaling factor.

initialSz - initial z scaling factor.

initialMxy - initial x-y cross coupling error.

initialMxz - initial x-z cross coupling error.

initialMyx - initial y-x cross coupling error.

initialMyz - initial y-z cross coupling error.

initialMzx - initial z-x cross coupling error.

initialMzy - initial z-y cross coupling error.

Throws:

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

getInitialBias

public double[] getInitialBias()

Gets initial bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).

Specified by:

getInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator

Returns:

array containing coordinates of initial bias.

getInitialBias

public void getInitialBias(double[] result)

Gets initial bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).

Specified by:

getInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided array does not have length 3.

setInitialBias

public void setInitialBias(double[] initialBias)
                    throws com.irurueta.navigation.LockedException

Sets initial bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).

Specified by:

setInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

initialBias - initial bias to find a solution.

Throws:

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

IllegalArgumentException - if provided array does not have length 3.

getInitialBiasAsMatrix

public com.irurueta.algebra.Matrix getInitialBiasAsMatrix()

Gets initial bias to be used to find a solution as a column matrix. Values are expressed in radians per second (rad/s).

Specified by:

getInitialBiasAsMatrix in interface UnknownBiasNonLinearGyroscopeCalibrator

Returns:

initial bias to be used to find a solution as a column matrix.

getInitialBiasAsMatrix

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

Gets initial bias to be used to find a solution as a column matrix. Values are expressed in radians per second (rad/s).

Specified by:

getInitialBiasAsMatrix in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

setInitialBias

public void setInitialBias(com.irurueta.algebra.Matrix initialBias)
                    throws com.irurueta.navigation.LockedException

Sets initial bias to be used to find a solution as a column matrix with values expressed in radians per second (rad/s).

Specified by:

setInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

initialBias - initial bias to find a solution.

Throws:

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

IllegalArgumentException - if provided matrix is not 3x1.

getInitialBiasAsTriad

public AngularSpeedTriad getInitialBiasAsTriad()

Gets initial bias coordinates of gyroscope used to find a solution.

Specified by:

getInitialBiasAsTriad in interface UnknownBiasNonLinearGyroscopeCalibrator

Returns:

initial bias coordinates.

getInitialBiasAsTriad

public void getInitialBiasAsTriad(AngularSpeedTriad result)

Gets initial bias coordinates of gyroscope used to find a solution.

Specified by:

getInitialBiasAsTriad in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

result - instance where result will be stored.

setInitialBias

public void setInitialBias(AngularSpeedTriad initialBias)
                    throws com.irurueta.navigation.LockedException

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

Specified by:

setInitialBias in interface UnknownBiasNonLinearGyroscopeCalibrator

Parameters:

initialBias - initial bias coordinates to be set.

Throws:

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

getInitialMg

public com.irurueta.algebra.Matrix getInitialMg()

Gets initial scale factors and cross coupling errors matrix.

Specified by:

getInitialMg in interface GyroscopeNonLinearCalibrator

Returns:

initial scale factors and cross coupling errors matrix.

getInitialMg

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

Gets initial 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 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.

getMeasurements

public List<StandardDeviationFrameBodyKinematics> getMeasurements()

Gets a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

Specified by:

getMeasurements in interface OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator

Returns:

a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

setMeasurements

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

Sets a list of body kinematics measurements taken at different frames (positions, orientations and velocities) and containing the standard deviations of accelerometer and gyroscope measurements. If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

Specified by:

setMeasurements in interface OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator

Parameters:

measurements - collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

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.

getListener

public RobustKnownFrameGyroscopeCalibratorListener getListener()

Gets listener to handle events raised by this estimator.

Returns:

listener to handle events raised by this estimator.

setListener

public void setListener(RobustKnownFrameGyroscopeCalibratorListener 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.

isLinearCalibratorUsed

public boolean isLinearCalibratorUsed()

Indicates whether a linear calibrator is used or not for preliminary solutions.

Returns:

indicates whether a linear calibrator is used or not for preliminary solutions.

setLinearCalibratorUsed

public void setLinearCalibratorUsed(boolean linearCalibratorUsed)
                             throws com.irurueta.navigation.LockedException

Specifies whether a linear calibrator is used or not for preliminary solutions.

Parameters:

linearCalibratorUsed - indicates whether a linear calibrator is used or not for preliminary solutions.

Throws:

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

isPreliminarySolutionRefined

public boolean isPreliminarySolutionRefined()

Indicates whether preliminary solutions must be refined after an initial linear solution is found. If no initial solution is found using a linear solver, a non linear solver will be used regardless of this value using an average solution as the initial value to be refined.

Returns:

true if preliminary solutions must be refined after an initial linear solution, false otherwise.

setPreliminarySolutionRefined

public void setPreliminarySolutionRefined(boolean preliminarySolutionRefined)
                                   throws com.irurueta.navigation.LockedException

Specifies whether preliminary solutions must be refined after an initial linear solution is found. If no initial solution is found using a linear solver, a non linear solver will be used regardless of this value using an average solution as the initial value to be refined.

Parameters:

preliminarySolutionRefined - true if preliminary solutions must be refined after an initial linear solution, false otherwise.

Throws:

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

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.

getEstimatedBiases

public double[] getEstimatedBiases()

Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).

Specified by:

getEstimatedBiases in interface GyroscopeCalibrationSource

Specified by:

getEstimatedBiases in interface UnknownBiasGyroscopeCalibrator

Returns:

array containing x,y,z components of estimated gyroscope biases.

getEstimatedBiases

public boolean getEstimatedBiases(double[] result)

Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).

Specified by:

getEstimatedBiases in interface UnknownBiasGyroscopeCalibrator

Parameters:

result - instance where estimated gyroscope biases will be stored.

Returns:

true if result instance was updated, false otherwise (when estimation is not yet available).

getEstimatedBiasesAsMatrix

public com.irurueta.algebra.Matrix getEstimatedBiasesAsMatrix()

Gets column matrix containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).

Specified by:

getEstimatedBiasesAsMatrix in interface UnknownBiasGyroscopeCalibrator

Returns:

column matrix containing x,y,z components of estimated gyroscope biases.

getEstimatedBiasesAsMatrix

public boolean getEstimatedBiasesAsMatrix(com.irurueta.algebra.Matrix result)
                                   throws com.irurueta.algebra.WrongSizeException

Gets column matrix containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).

Specified by:

getEstimatedBiasesAsMatrix in interface UnknownBiasGyroscopeCalibrator

Parameters:

result - instance where result data will be stored.

Returns:

true if result was updated, false otherwise.

Throws:

com.irurueta.algebra.WrongSizeException - if provided result instance has invalid size.

getEstimatedBiasX

public Double getEstimatedBiasX()

Gets x coordinate of estimated gyroscope bias expressed in radians per second (rad/s).

Specified by:

getEstimatedBiasX in interface UnknownBiasGyroscopeCalibrator

Returns:

x coordinate of estimated gyroscope bias or null if not available.

getEstimatedBiasY

public Double getEstimatedBiasY()

Gets y coordinate of estimated gyroscope bias expressed in radians per second (rad/s).

Specified by:

getEstimatedBiasY in interface UnknownBiasGyroscopeCalibrator

Returns:

y coordinate of estimated gyroscope bias or null if not available.

getEstimatedBiasZ

public Double getEstimatedBiasZ()

Gets z coordinate of estimated gyroscope bias expressed in radians per second (rad/s).

Specified by:

getEstimatedBiasZ in interface UnknownBiasGyroscopeCalibrator

Returns:

z coordinate of estimated gyroscope bias or null if not available.

getEstimatedBiasAngularSpeedX

public com.irurueta.units.AngularSpeed getEstimatedBiasAngularSpeedX()

Gets x coordinate of estimated gyroscope bias.

Specified by:

getEstimatedBiasAngularSpeedX in interface UnknownBiasGyroscopeCalibrator

Returns:

x coordinate of estimated gyroscope bias or null if not available.

getEstimatedBiasAngularSpeedX

public boolean getEstimatedBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)

Gets x coordinate of estimated gyroscope bias.

Specified by:

getEstimatedBiasAngularSpeedX in interface UnknownBiasGyroscopeCalibrator

Parameters:

result - instance where result will be stored.

Returns:

true if result was updated, false if estimation is not available.

getEstimatedBiasAngularSpeedY

public com.irurueta.units.AngularSpeed getEstimatedBiasAngularSpeedY()

Gets y coordinate of estimated gyroscope bias.

Specified by:

getEstimatedBiasAngularSpeedY in interface UnknownBiasGyroscopeCalibrator

Returns:

y coordinate of estimated gyroscope bias or null if not available.

getEstimatedBiasAngularSpeedY

public boolean getEstimatedBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)

Gets y coordinate of estimated gyroscope bias.

Specified by:

getEstimatedBiasAngularSpeedY in interface UnknownBiasGyroscopeCalibrator

Parameters:

result - instance where result will be stored.

Returns:

true if result was updated, false if estimation is not available.

getEstimatedBiasAngularSpeedZ

public com.irurueta.units.AngularSpeed getEstimatedBiasAngularSpeedZ()

Gets z coordinate of estimated gyroscope bias.

Specified by:

getEstimatedBiasAngularSpeedZ in interface UnknownBiasGyroscopeCalibrator

Returns:

z coordinate of estimated gyroscope bias or null if not available.

getEstimatedBiasAngularSpeedZ

public boolean getEstimatedBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)

Gets z coordinate of estimated gyroscope bias.

Specified by:

getEstimatedBiasAngularSpeedZ in interface UnknownBiasGyroscopeCalibrator

Parameters:

result - instance where result will be stored.

Returns:

true if result was updated, false if estimation is not available.

getEstimatedBiasAsTriad

public AngularSpeedTriad getEstimatedBiasAsTriad()

Gets estimated gyroscope bias.

Specified by:

getEstimatedBiasAsTriad in interface UnknownBiasGyroscopeCalibrator

Returns:

estimated gyroscope bias or null if not available.

getEstimatedBiasAsTriad

public boolean getEstimatedBiasAsTriad(AngularSpeedTriad result)

Gets estimated gyroscope bias.

Specified by:

getEstimatedBiasAsTriad in interface UnknownBiasGyroscopeCalibrator

Parameters:

result - instance where result will be stored.

Returns:

true if estimated gyroscope bias is available and result was modified, false otherwise.

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 GyroscopeCalibrationSource

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 x-axis scale factor.

Specified by:

getEstimatedSx in interface GyroscopeCalibrator

Returns:

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

getEstimatedSy

public Double getEstimatedSy()

Gets estimated y-axis scale factor.

Specified by:

getEstimatedSy in interface GyroscopeCalibrator

Returns:

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

getEstimatedSz

public Double getEstimatedSz()

Gets estimated z-axis scale factor.

Specified by:

getEstimatedSz in interface GyroscopeCalibrator

Returns:

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

getEstimatedMxy

public Double getEstimatedMxy()

Gets estimated x-y cross-coupling error.

Specified by:

getEstimatedMxy in interface GyroscopeCalibrator

Returns:

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

getEstimatedMxz

public Double getEstimatedMxz()

Gets estimated x-z cross-coupling error.

Specified by:

getEstimatedMxz in interface GyroscopeCalibrator

Returns:

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

getEstimatedMyx

public Double getEstimatedMyx()

Gets estimated y-x cross-coupling error.

Specified by:

getEstimatedMyx in interface GyroscopeCalibrator

Returns:

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

getEstimatedMyz

public Double getEstimatedMyz()

Gets estimated y-z cross-coupling error.

Specified by:

getEstimatedMyz in interface GyroscopeCalibrator

Returns:

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

getEstimatedMzx

public Double getEstimatedMzx()

Gets estimated z-x cross-coupling error.

Specified by:

getEstimatedMzx in interface GyroscopeCalibrator

Returns:

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

getEstimatedMzy

public Double getEstimatedMzy()

Gets estimated z-y cross-coupling error.

Specified by:

getEstimatedMzy in interface GyroscopeCalibrator

Returns:

estimated 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 GyroscopeCalibrationSource

Specified by:

getEstimatedGg in interface GyroscopeCalibrator

Returns:

estimated G-dependent cross biases.

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.

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

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.

getEstimatedCovariance

public com.irurueta.algebra.Matrix getEstimatedCovariance()

Gets estimated covariance matrix for estimated calibration solution. Diagonal elements of the matrix contains variance for the following parameters (following indicated order): bgx, bgy, bgz, sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy, gg11, gg21, gg31, gg12, gg22, gg32, gg13, gg23, gg33. This is only available when result has been refined and covariance is kept.

Specified by:

getEstimatedCovariance in interface GyroscopeNonLinearCalibrator

Returns:

estimated covariance matrix for estimated position.

getEstimatedBiasXVariance

public Double getEstimatedBiasXVariance()

Gets variance of estimated x coordinate of gyroscope bias expressed in (rad^2/s^2).

Returns:

variance of estimated x coordinate of gyroscope bias or null if not available.

getEstimatedBiasXStandardDeviation

public Double getEstimatedBiasXStandardDeviation()

Gets standard deviation of estimated x coordinate of gyroscope bias expressed in radians per second (rad/s).

Returns:

standard deviation of estimated x coordinate of gyroscope bias or null if not available.

getEstimatedBiasXStandardDeviationAsAngularSpeed

public com.irurueta.units.AngularSpeed getEstimatedBiasXStandardDeviationAsAngularSpeed()

Gets standard deviation of estimated x coordinate of gyroscope bias.

Returns:

standard deviation of estimated x coordinate of gyroscope bias or null if not available.

getEstimatedBiasXStandardDeviationAsAngularSpeed

public boolean getEstimatedBiasXStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets standard deviation of estimated x coordinate of gyroscope bias.

Parameters:

result - instance where result will be stored.

Returns:

true if standard deviation of estimated x coordinate of gyroscope bias is available, false otherwise.

getEstimatedBiasYVariance

public Double getEstimatedBiasYVariance()

Gets variance of estimated y coordinate of gyroscope bias expressed in (rad^2/s^2).

Returns:

variance of estimated y coordinate of gyroscope bias or null if not available.

getEstimatedBiasYStandardDeviation

public Double getEstimatedBiasYStandardDeviation()

Gets standard deviation of estimated y coordinate of gyroscope bias expressed in radians per second (rad/s).

Returns:

standard deviation of estimated y coordinate of gyroscope bias or null if not available.

getEstimatedBiasYStandardDeviationAsAngularSpeed

public com.irurueta.units.AngularSpeed getEstimatedBiasYStandardDeviationAsAngularSpeed()

Gets standard deviation of estimated y coordinate of gyroscope bias.

Returns:

standard deviation of estimated y coordinate of gyroscope bias or null if not available.

getEstimatedBiasYStandardDeviationAsAngularSpeed

public boolean getEstimatedBiasYStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets standard deviation of estimated y coordinate of gyroscope bias.

Parameters:

result - instance where result will be stored.

Returns:

true if standard deviation of estimated y coordinate of gyroscope bias is available, false otherwise.

getEstimatedBiasZVariance

public Double getEstimatedBiasZVariance()

Gets variance of estimated z coordinate of gyroscope bias expressed in (rad^2/s^2).

Returns:

variance of estimated z coordinate of gyroscope bias or null if not available.

getEstimatedBiasZStandardDeviation

public Double getEstimatedBiasZStandardDeviation()

Gets standard deviation of estimated z coordinate of gyroscope bias expressed in radians per second (rad/s).

Returns:

standard deviation of estimated z coordinate of gyroscope bias or null if not available.

getEstimatedBiasZStandardDeviationAsAngularSpeed

public com.irurueta.units.AngularSpeed getEstimatedBiasZStandardDeviationAsAngularSpeed()

Gets standard deviation of estimated z coordinate of gyroscope bias.

Returns:

standard deviation of estimated z coordinate of gyroscope bias or null if not available.

getEstimatedBiasZStandardDeviationAsAngularSpeed

public boolean getEstimatedBiasZStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets standard deviation of estimated z coordinate of gyroscope bias.

Parameters:

result - instance where result will be stored.

Returns:

true if standard deviation of estimated z coordinate of gyroscope bias is available, false otherwise.

getEstimatedBiasStandardDeviation

public AngularSpeedTriad getEstimatedBiasStandardDeviation()

Gets standard deviation of estimated gyroscope bias coordinates.

Returns:

standard deviation of estimated gyroscope bias coordinates.

getEstimatedBiasStandardDeviation

public boolean getEstimatedBiasStandardDeviation(AngularSpeedTriad result)

Gets standard deviation of estimated gyroscope bias coordinates.

Parameters:

result - instance where result will be stored.

Returns:

true if standard deviation of gyroscope bias was available, false otherwise.

getEstimatedBiasStandardDeviationAverage

public Double getEstimatedBiasStandardDeviationAverage()

Gets average of estimated standard deviation of gyroscope bias coordinates expressed in radians per second (rad/s).

Returns:

average of estimated standard deviation of gyroscope bias coordinates or null if not available.

getEstimatedBiasStandardDeviationAverageAsAngularSpeed

public com.irurueta.units.AngularSpeed getEstimatedBiasStandardDeviationAverageAsAngularSpeed()

Gets average of estimated standard deviation of gyroscope bias coordinates.

Returns:

average of estimated standard deviation of gyroscope bias coordinates or null.

getEstimatedBiasStandardDeviationAverageAsAngularSpeed

public boolean getEstimatedBiasStandardDeviationAverageAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets average of estimated standard deviation of gyroscope bias coordinates.

Parameters:

result - instance where result will be stored.

Returns:

true if average of estimated standard deviation of gyroscope bias is available, false otherwise.

getEstimatedBiasStandardDeviationNorm

public Double getEstimatedBiasStandardDeviationNorm()

Gets norm of estimated standard deviation of gyroscope bias expressed in radians per second (rad/s). This can be used as the initial gyroscope bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.

Specified by:

getEstimatedBiasStandardDeviationNorm in interface GyroscopeBiasUncertaintySource

Returns:

norm of estimated standard deviation of gyroscope bias or null if not available.

getEstimatedBiasStandardDeviationNormAsAngularSpeed

public com.irurueta.units.AngularSpeed getEstimatedBiasStandardDeviationNormAsAngularSpeed()

Gets norm of estimated standard deviation of gyroscope bias. This can be used as the initial gyroscope bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.

Returns:

norm of estimated standard deviation of gyroscope bias or null if not available.

getEstimatedBiasStandardDeviationNormAsAngularSpeed

public boolean getEstimatedBiasStandardDeviationNormAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets norm of estimated standard deviation of gyroscope bias coordinates. This can be used as the initial gyroscope bias uncertainty for INSLooselyCoupledKalmanInitializerConfig or INSTightlyCoupledKalmanInitializerConfig.

Parameters:

result - instance where result will be stored.

Returns:

true if norm of estimated standard deviation of gyroscope bias is available, false otherwise.

getPreliminarySubsetSize

public int getPreliminarySubsetSize()

Gets size of subsets to be checked during robust estimation. This has to be at least MINIMUM_MEASUREMENTS.

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 MINIMUM_MEASUREMENTS.

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 MINIMUM_MEASUREMENTS.

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 RobustKnownFrameGyroscopeCalibrator 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 RobustKnownFrameGyroscopeCalibrator create(RobustKnownFrameGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements,
 RobustKnownFrameGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(boolean commonAxisUsed,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientation and velocities).

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust gyroscope calibrator.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator 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.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 RobustKnownFrameGyroscopeCalibratorListener 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.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyKinematics> measurements,
 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.

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyKinematics> measurements,
 RobustKnownFrameGyroscopeCalibratorListener 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.

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 boolean commonAxisUsed,
 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.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener 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.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed,
 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.

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener 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.

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

method - robust estimator method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create()

Creates a robust gyroscope calibrator using default robust method.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements,
 RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(boolean commonAxisUsed)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

Returns:

a robust accelerometer calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

Returns:

a robust accelerometer calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different (positions, orientations and velocities).

commonAxisUsed - indicates whether z-axis is assigned to be common for accelerometer and gyroscope.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyKinematics> measurements)

Creates a robust gyroscope calibrator using default robust method

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyKinematics> measurements,
 RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 boolean commonAxisUsed)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

Returns:

a robust gyroscope calibrator.

create

public static RobustKnownFrameGyroscopeCalibrator create(double[] qualityScores,
 List<StandardDeviationFrameBodyKinematics> measurements,
 boolean commonAxisUsed,
 RobustKnownFrameGyroscopeCalibratorListener listener)

Creates a robust gyroscope calibrator using default robust method.

Parameters:

qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.

measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

listener - listener to handle events raised by this calibrator.

Returns:

a robust gyroscope calibrator.

computeError

protected double computeError(StandardDeviationFrameBodyKinematics measurement,
 RobustKnownFrameGyroscopeCalibrator.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<RobustKnownFrameGyroscopeCalibrator.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(RobustKnownFrameGyroscopeCalibrator.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.

convertAngularSpeed

private static double convertAngularSpeed(double value,
 com.irurueta.units.AngularSpeedUnit unit)

Converts angular speed value and unit to radians per second.

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.

Parameters:

angularSpeed - angular speed instance to be converted.

Returns:

converted value.