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

Class AccumulatedAngularSpeedTriadNoiseEstimator

java.lang.Object

com.irurueta.navigation.inertial.calibration.noise.AccumulatedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AccumulatedAngularSpeedTriadNoiseEstimator,AccumulatedAngularSpeedTriadNoiseEstimatorListener>

com.irurueta.navigation.inertial.calibration.noise.AccumulatedAngularSpeedTriadNoiseEstimator

All Implemented Interfaces:

GyroscopeNoiseRootPsdSource

public class AccumulatedAngularSpeedTriadNoiseEstimator
extends AccumulatedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AccumulatedAngularSpeedTriadNoiseEstimator,AccumulatedAngularSpeedTriadNoiseEstimatorListener>
implements GyroscopeNoiseRootPsdSource

Estimates accumulated angular speed noise variances and PSD's (Power Spectral Densities) along with their average values. This estimator must be used when the body where the gyroscope is attached to keeps a constant angular speed while capturing data (i.e. when body is static has a constant overall angular speed due to Earth rotation). 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, gyroscope 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 implementation of noise estimator will use the following units: - radians per second (rad/s) for angular speed, average or standard deviation values. - (rad^2/s^2) fr angular speed variances. - (rad^2/s) for gyroscope PSD (Power Spectral Density). - (rad * s^-0.5) for gyroscope 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
AccumulatedAngularSpeedTriadNoiseEstimator()	Constructor.
AccumulatedAngularSpeedTriadNoiseEstimator(AccumulatedAngularSpeedTriadNoiseEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected double	convertToDefaultUnit(double value, com.irurueta.units.AngularSpeedUnit unit)	Converts provided value and unit into default unit.
protected com.irurueta.units.AngularSpeed	createMeasurement(double value, com.irurueta.units.AngularSpeedUnit unit)	Creates a measurement with provided value and unit.
protected AngularSpeedTriad	createTriad(double valueX, double valueY, double valueZ, com.irurueta.units.AngularSpeedUnit unit)	Creates a triad with provided values and unit.
protected com.irurueta.units.AngularSpeedUnit	getDefaultUnit()	Gets default unit for a measurement.
double	getGyroscopeBaseNoiseLevelRootPsd()	Gets gyroscope base noise level root PSD (Power Spectral Density) expressed in (rad * s^-0.5)

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

AccumulatedAngularSpeedTriadNoiseEstimator

public AccumulatedAngularSpeedTriadNoiseEstimator()

Constructor.

AccumulatedAngularSpeedTriadNoiseEstimator

public AccumulatedAngularSpeedTriadNoiseEstimator(AccumulatedAngularSpeedTriadNoiseEstimatorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this estimator.

Method Details

createTriad

protected AngularSpeedTriad createTriad(double valueX,
 double valueY,
 double valueZ,
 com.irurueta.units.AngularSpeedUnit unit)

Creates a triad with provided values and unit.

Specified by:

createTriad in class AccumulatedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AccumulatedAngularSpeedTriadNoiseEstimator,AccumulatedAngularSpeedTriadNoiseEstimatorListener>

Parameters:

valueX - x coordinate value.

valueY - y coordinate value.

valueZ - z coordinate value.

unit - unit.

Returns:

created triad.

getDefaultUnit

protected com.irurueta.units.AngularSpeedUnit getDefaultUnit()

Gets default unit for a measurement.

Specified by:

getDefaultUnit in class AccumulatedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AccumulatedAngularSpeedTriadNoiseEstimator,AccumulatedAngularSpeedTriadNoiseEstimatorListener>

Returns:

default unit for a measurement.

createMeasurement

protected com.irurueta.units.AngularSpeed createMeasurement(double value,
 com.irurueta.units.AngularSpeedUnit unit)

Creates a measurement with provided value and unit.

Specified by:

createMeasurement in class AccumulatedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AccumulatedAngularSpeedTriadNoiseEstimator,AccumulatedAngularSpeedTriadNoiseEstimatorListener>

Parameters:

value - value to be set.

unit - unit to be set.

Returns:

created measurement.

convertToDefaultUnit

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

Converts provided value and unit into default unit.

Specified by:

convertToDefaultUnit in class AccumulatedTriadNoiseEstimator<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AccumulatedAngularSpeedTriadNoiseEstimator,AccumulatedAngularSpeedTriadNoiseEstimatorListener>

Parameters:

value - measurement value to be converted.

unit - unit of measurement value to be converted.

Returns:

converted value.

getGyroscopeBaseNoiseLevelRootPsd

public double getGyroscopeBaseNoiseLevelRootPsd()

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

Specified by:

getGyroscopeBaseNoiseLevelRootPsd in interface GyroscopeNoiseRootPsdSource

Returns:

gyroscope base noise level root PSD.