Package com.irurueta.navigation.inertial.calibration.noise

Class AccumulatedAccelerationTriadNoiseEstimator

java.lang.Object

com.irurueta.navigation.inertial.calibration.noise.AccumulatedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,AccumulatedAccelerationTriadNoiseEstimator,AccumulatedAccelerationTriadNoiseEstimatorListener>

com.irurueta.navigation.inertial.calibration.noise.AccumulatedAccelerationTriadNoiseEstimator

All Implemented Interfaces:

AccelerometerNoiseRootPsdSource

public class AccumulatedAccelerationTriadNoiseEstimator
extends AccumulatedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,AccumulatedAccelerationTriadNoiseEstimator,AccumulatedAccelerationTriadNoiseEstimatorListener>
implements AccelerometerNoiseRootPsdSource

Estimates accumulated acceleration noise variances and PSD's (Power Spectral Densities) along with their average values. This estimator must be used when the body where the accelerometer is attached remains static on the same position with zero velocity while capturing data. To compute PSD's, this estimator assumes that measurement samples are obtained at a constant provided rate equal to AccumulatedTriadNoiseEstimator.getTimeInterval() seconds. If not available, accelerometer sampling rate average can be estimated using TimeIntervalEstimator. This estimator does NOT require the knowledge of current location and body orientation. Because body location and orientation is not known, estimated average values cannot be used to determine biases. Only norm of noise estimations (variance or standard deviation) can be safely used. This estimator does NOT require the knowledge of current location and body orientation. This implementation of noise estimator will use the following units: - meters per squared second (m/s^2) for acceleration, average or standard deviation values. - (m^2/s^4) for acceleration variances. - (m^2 * s^-3) for accelerometer PSD (Power Spectral Density). - (m * s^-1.5) for accelerometer root PSD (Power Spectral Density).

Field Summary

Fields inherited from class com.irurueta.navigation.inertial.calibration.noise.AccumulatedTriadNoiseEstimator

DEFAULT_TIME_INTERVAL_SECONDS

Constructor Summary

Constructors

Constructor	Description
AccumulatedAccelerationTriadNoiseEstimator()	Constructor.
AccumulatedAccelerationTriadNoiseEstimator(AccumulatedAccelerationTriadNoiseEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected double	convertToDefaultUnit(double value, com.irurueta.units.AccelerationUnit unit)	Converts provided value and unit into default unit.
protected com.irurueta.units.Acceleration	createMeasurement(double value, com.irurueta.units.AccelerationUnit unit)	Creates a measurement with provided value and unit.
protected AccelerationTriad	createTriad(double valueX, double valueY, double valueZ, com.irurueta.units.AccelerationUnit unit)	Creates a triad with provided values and unit.
double	getAccelerometerBaseNoiseLevelRootPsd()	Gets accelerometer base noise level root PSD (Power Spectral Density) expressed in (m * s^-1.5).
protected com.irurueta.units.AccelerationUnit	getDefaultUnit()	Gets default unit for a measurement.

Methods inherited from class com.irurueta.navigation.inertial.calibration.noise.AccumulatedTriadNoiseEstimator

addTriad, addTriad, addTriad, getAverageStandardDeviation, getAverageStandardDeviationAsMeasurement, getAverageStandardDeviationAsMeasurement, getAvgNoisePsd, getAvgNorm, getAvgNormAsMeasurement, getAvgNormAsMeasurement, getAvgTriad, getAvgTriad, getAvgX, getAvgXAsMeasurement, getAvgXAsMeasurement, getAvgY, getAvgYAsMeasurement, getAvgYAsMeasurement, getAvgZ, getAvgZAsMeasurement, getAvgZAsMeasurement, getLastTriad, getLastTriad, getListener, getNoiseRootPsdNorm, getNumberOfProcessedSamples, getPsdX, getPsdY, getPsdZ, getRootPsdX, getRootPsdY, getRootPsdZ, getStandardDeviationNorm, getStandardDeviationNormAsMeasurement, getStandardDeviationNormAsMeasurement, getStandardDeviationTriad, getStandardDeviationTriad, getStandardDeviationX, getStandardDeviationXAsMeasurement, getStandardDeviationXAsMeasurement, getStandardDeviationY, getStandardDeviationYAsMeasurement, getStandardDeviationYAsMeasurement, getStandardDeviationZ, getStandardDeviationZAsMeasurement, getStandardDeviationZAsMeasurement, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getVarianceX, getVarianceY, getVarianceZ, isRunning, reset, setListener, setTimeInterval, setTimeInterval

Methods inherited from class java.lang.Object

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

Constructor Details

AccumulatedAccelerationTriadNoiseEstimator

public AccumulatedAccelerationTriadNoiseEstimator()

Constructor.

AccumulatedAccelerationTriadNoiseEstimator

public AccumulatedAccelerationTriadNoiseEstimator(AccumulatedAccelerationTriadNoiseEstimatorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this estimator.

Method Details

createTriad

protected AccelerationTriad createTriad(double valueX,
 double valueY,
 double valueZ,
 com.irurueta.units.AccelerationUnit unit)

Creates a triad with provided values and unit.

Specified by:

createTriad in class AccumulatedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,AccumulatedAccelerationTriadNoiseEstimator,AccumulatedAccelerationTriadNoiseEstimatorListener>

Parameters:

valueX - x coordinate value.

valueY - y coordinate value.

valueZ - z coordinate value.

unit - unit.

Returns:

created triad.

getDefaultUnit

protected com.irurueta.units.AccelerationUnit getDefaultUnit()

Gets default unit for a measurement.

Specified by:

getDefaultUnit in class AccumulatedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,AccumulatedAccelerationTriadNoiseEstimator,AccumulatedAccelerationTriadNoiseEstimatorListener>

Returns:

default unit for a measurement.

createMeasurement

protected com.irurueta.units.Acceleration createMeasurement(double value,
 com.irurueta.units.AccelerationUnit unit)

Creates a measurement with provided value and unit.

Specified by:

createMeasurement in class AccumulatedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,AccumulatedAccelerationTriadNoiseEstimator,AccumulatedAccelerationTriadNoiseEstimatorListener>

Parameters:

value - value to be set.

unit - unit to be set.

Returns:

created measurement.

convertToDefaultUnit

protected double convertToDefaultUnit(double value,
 com.irurueta.units.AccelerationUnit unit)

Converts provided value and unit into default unit.

Specified by:

convertToDefaultUnit in class AccumulatedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,AccumulatedAccelerationTriadNoiseEstimator,AccumulatedAccelerationTriadNoiseEstimatorListener>

Parameters:

value - measurement value to be converted.

unit - unit of measurement value to be converted.

Returns:

converted value.

getAccelerometerBaseNoiseLevelRootPsd

public double getAccelerometerBaseNoiseLevelRootPsd()

Gets accelerometer base noise level root PSD (Power Spectral Density) expressed in (m * s^-1.5).

Specified by:

getAccelerometerBaseNoiseLevelRootPsd in interface AccelerometerNoiseRootPsdSource

Returns:

accelerometer base noise level root PSD.