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

Class WindowedAccelerationTriadNoiseEstimator

java.lang.Object

com.irurueta.navigation.inertial.calibration.noise.WindowedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,WindowedAccelerationTriadNoiseEstimator,WindowedAccelerationTriadNoiseEstimatorListener>

com.irurueta.navigation.inertial.calibration.noise.WindowedAccelerationTriadNoiseEstimator

All Implemented Interfaces:

AccelerometerNoiseRootPsdSource

public class WindowedAccelerationTriadNoiseEstimator
extends WindowedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,WindowedAccelerationTriadNoiseEstimator,WindowedAccelerationTriadNoiseEstimatorListener>
implements AccelerometerNoiseRootPsdSource

Estimates accelerometer noise variances and PSD's (Power Spectral Densities) along with the accelerometer average values for a windowed amount of samples. 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 accelerometer samples are obtained at a constant provided rate equal to WindowedTriadNoiseEstimator.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 can be (variance or standard deviation) safely used. Notice that if there are less than WindowedTriadNoiseEstimator.getWindowSize() processed samples in the window, this estimator will assume that the remaining ones until the window is completed have zero values. 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.WindowedTriadNoiseEstimator

DEFAULT_TIME_INTERVAL_SECONDS, DEFAULT_WINDOW_SIZE, MIN_WINDOW_SIZE

Constructor Summary

Constructors

Constructor	Description
WindowedAccelerationTriadNoiseEstimator()	Constructor.
WindowedAccelerationTriadNoiseEstimator(WindowedAccelerationTriadNoiseEstimatorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected AccelerationTriad	copyTriad(AccelerationTriad input)	Creates a copy of a triad.
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.
protected AccelerationTriad	createTriad(com.irurueta.units.Acceleration valueX, com.irurueta.units.Acceleration valueY, com.irurueta.units.Acceleration valueZ)	Creates a triad with provided values.
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.WindowedTriadNoiseEstimator

addTriad, addTriad, addTriad, addTriadAndProcess, addTriadAndProcess, addTriadAndProcess, getAverageStandardDeviation, getAverageStandardDeviationAsMeasurement, getAverageStandardDeviationAsMeasurement, getAvgNoisePsd, getAvgNorm, getAvgNormAsMeasurement, getAvgNormAsMeasurement, getAvgTriad, getAvgTriad, getAvgX, getAvgXAsMeasurement, getAvgXAsMeasurement, getAvgY, getAvgYAsMeasurement, getAvgYAsMeasurement, getAvgZ, getAvgZAsMeasurement, getAvgZAsMeasurement, getFirstWindowedTriad, getFirstWindowedTriad, getLastWindowedTriad, getLastWindowedTriad, getListener, getNoiseRootPsdNorm, getNumberOfProcessedSamples, getNumberOfSamplesInWindow, 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, getWindowSize, isRunning, isWindowFilled, reset, setListener, setTimeInterval, setTimeInterval, setWindowSize

Methods inherited from class java.lang.Object

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

Constructor Details

WindowedAccelerationTriadNoiseEstimator

public WindowedAccelerationTriadNoiseEstimator()

Constructor.

WindowedAccelerationTriadNoiseEstimator

public WindowedAccelerationTriadNoiseEstimator(WindowedAccelerationTriadNoiseEstimatorListener listener)

Constructor.

Parameters:

listener - listener to handle events raised by this estimator.

Method Details

copyTriad

protected AccelerationTriad copyTriad(AccelerationTriad input)

Creates a copy of a triad.

Specified by:

copyTriad in class WindowedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,WindowedAccelerationTriadNoiseEstimator,WindowedAccelerationTriadNoiseEstimatorListener>

Parameters:

input - triad to be copied.

Returns:

copy of a triad.

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 WindowedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,WindowedAccelerationTriadNoiseEstimator,WindowedAccelerationTriadNoiseEstimatorListener>

Parameters:

valueX - x coordinate value.

valueY - y coordinate value.

valueZ - z coordinate value.

unit - unit.

Returns:

created triad.

createTriad

protected AccelerationTriad createTriad(com.irurueta.units.Acceleration valueX,
 com.irurueta.units.Acceleration valueY,
 com.irurueta.units.Acceleration valueZ)

Creates a triad with provided values.

Specified by:

createTriad in class WindowedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,WindowedAccelerationTriadNoiseEstimator,WindowedAccelerationTriadNoiseEstimatorListener>

Parameters:

valueX - x coordinate value.

valueY - y coordinate value.

valueZ - z coordinate value.

Returns:

created triad.

getDefaultUnit

protected com.irurueta.units.AccelerationUnit getDefaultUnit()

Gets default unit for a measurement.

Specified by:

getDefaultUnit in class WindowedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,WindowedAccelerationTriadNoiseEstimator,WindowedAccelerationTriadNoiseEstimatorListener>

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 WindowedTriadNoiseEstimator<com.irurueta.units.AccelerationUnit,com.irurueta.units.Acceleration,AccelerationTriad,WindowedAccelerationTriadNoiseEstimator,WindowedAccelerationTriadNoiseEstimatorListener>

Parameters:

value - value to be set.

unit - unit to be set.

Returns:

created measurement.

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.