Package com.irurueta.navigation.inertial.estimators

Class NEDKinematicsEstimator

java.lang.Object

com.irurueta.navigation.inertial.estimators.NEDKinematicsEstimator

public class NEDKinematicsEstimator
extends Object

Estimates body kinematics (specific force applied to a body and its angular rate) with respect and resolved along north, east, and down. This implementation is based on the equations defined in "Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition" and on the companion software available at: https://github.com/ymjdz/MATLAB-Codes/blob/master/Kinematics_NED.m

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ALPHA_THRESHOLD	Alpha threshold.
static final double	EARTH_ROTATION_RATE	Earth rotation rate expressed in radians per second (rad/s).
private static final int	ROWS	Number of rows.
private static final double	SCALING_THRESHOLD	Scaling threshold.

Constructor Summary

Constructors

Constructor	Description
NEDKinematicsEstimator()

Method Summary

Modifier and Type	Method	Description
private static double	convertAngle(com.irurueta.units.Angle angle)	Converts an angle instance into radians.
private static double	convertDistance(com.irurueta.units.Distance distance)	Converts a distance instance into meters.
private static double	convertSpeed(com.irurueta.units.Speed speed)	Converts a speed instance into meters per second.
private static double	convertTime(com.irurueta.units.Time time)	Converts a time instance into seconds.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, com.irurueta.units.Distance height, double oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, double height, com.irurueta.units.Angle oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, com.irurueta.units.Distance height, double oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, double height, com.irurueta.units.Angle oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, com.irurueta.units.Distance height, double oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, double height, com.irurueta.units.Angle oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, com.irurueta.units.Distance height, double oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, double height, com.irurueta.units.Angle oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
BodyKinematics	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, com.irurueta.units.Distance height, double oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, double height, com.irurueta.units.Angle oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, com.irurueta.units.Distance height, double oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, double height, com.irurueta.units.Angle oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, double latitude, double height, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double oldLatitude, double oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static void	estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame oldFrame, BodyKinematics result)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, com.irurueta.units.Distance height, double oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, double height, com.irurueta.units.Angle oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, double latitude, com.irurueta.units.Distance height, double oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vn, double ve, double vd, double oldVn, double oldVe, double oldVd, com.irurueta.units.Angle latitude, double height, com.irurueta.units.Angle oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, double latitude, double height, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, double latitude, double height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.units.Angle latitude, com.irurueta.units.Distance height, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVn, double oldVe, double oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, double oldLatitude, double oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Distance oldHeight)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.navigation.frames.NEDPosition oldPosition)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.
static BodyKinematics	estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame oldFrame)	Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Methods inherited from class java.lang.Object

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

Field Details

EARTH_ROTATION_RATE

public static final double EARTH_ROTATION_RATE

Earth rotation rate expressed in radians per second (rad/s).

See Also:

• Constant Field Values

SCALING_THRESHOLD

private static final double SCALING_THRESHOLD

Scaling threshold.

See Also:

• Constant Field Values

ALPHA_THRESHOLD

private static final double ALPHA_THRESHOLD

Alpha threshold.

See Also:

• Constant Field Values

ROWS

private static final int ROWS

Number of rows.

See Also:

• Constant Field Values

Constructor Details

NEDKinematicsEstimator

public NEDKinematicsEstimator()

Method Details

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 double height,
 com.irurueta.units.Angle oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude.

height - current height expressed in meters (m).

oldLatitude - previous latitude.

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 double height,
 com.irurueta.units.Angle oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude.

height - current height expressed in meters (m).

oldLatitude - previous latitude.

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 com.irurueta.units.Distance height,
 double oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 com.irurueta.units.Distance height,
 double oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 double height,
 com.irurueta.units.Angle oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude.

height - current height expressed in meters (m).

oldLatitude - previous latitude.

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 double height,
 com.irurueta.units.Angle oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude.

height - current height expressed in meters (m).

oldLatitude - previous latitude.

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 com.irurueta.units.Distance height,
 double oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 com.irurueta.units.Distance height,
 double oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateAndReturnNew

public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame oldFrame,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 double height,
 com.irurueta.units.Angle oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude.

height - current height expressed in meters (m).

oldLatitude - previous latitude.

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 double height,
 com.irurueta.units.Angle oldLatitude,
 double oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude.

height - current height expressed in meters (m).

oldLatitude - previous latitude.

oldHeight - previous height expressed in meters (m).

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 com.irurueta.units.Distance height,
 double oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 com.irurueta.units.Distance height,
 double oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematics

public static void estimateKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight,
 BodyKinematics result)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

result - instance where estimated body kinematics will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDPosition oldPosition)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

oldVelocity - previous velocity of body frame with respect NED frame, resolved along north, east and down.

oldPosition - previous curvilinear position expressed in terms of latitude, longitude and height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 double latitude,
 double height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

latitude - current latitude.

height - current height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

velocity - velocity of body frame with respect NED frame, resolved along north, east and down.

position - current curvilinear position expressed in terms of latitude, longitude and height.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame oldFrame)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

frame - NED frame containing current position, velocity and body-to-NED coordinate transformation.

oldFrame - NED frame containing previous position, velocity and body-to-NED coordinate transformation.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 double latitude,
 double height,
 double oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude expressed in radians (rad).

height - current height expressed in meters (m).

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 double height,
 com.irurueta.units.Angle oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude.

height - current height expressed in meters (m).

oldLatitude - previous latitude.

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 com.irurueta.units.Angle latitude,
 double height,
 com.irurueta.units.Angle oldLatitude,
 double oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude.

height - current height expressed in meters (m).

oldLatitude - previous latitude.

oldHeight - previous height expressed in meters (m).

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 com.irurueta.units.Distance height,
 double oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vn,
 double ve,
 double vd,
 double oldVn,
 double oldVe,
 double oldVd,
 double latitude,
 com.irurueta.units.Distance height,
 double oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down and expressed in meters per second (m/s).

latitude - current latitude expressed in radians (rad).

height - current height.

oldLatitude - previous latitude expressed in radians (rad).

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs expressed in seconds (s).

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

estimateKinematicsAndReturnNew

public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Angle latitude,
 com.irurueta.units.Distance height,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Distance oldHeight)

Estimates body kinematics (specific force applied to a body and its angular rates) with respect NED frame and resolved along body-frame axes, averaged over time interval.

Parameters:

timeInterval - time interval between epochs.

c - body-to-NED coordinate transformation.

oldC - previous body-to-NED coordinate transformation.

vn - north coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

ve - east coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

vd - down coordinate of velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVn - north coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVe - east coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

oldVd - down coordinate of previous velocity of body frame with respect NED frame, resolved along north, east, and down.

latitude - current latitude.

height - current height.

oldLatitude - previous latitude.

oldHeight - previous height.

Returns:

a new body kinematics instance.

Throws:

IllegalArgumentException - if provided time interval is negative or coordinate transformation matrices are not NED frame valid.

convertTime

private static double convertTime(com.irurueta.units.Time time)

Converts a time instance into seconds.

Parameters:

time - time to be converted.

Returns:

time value expressed in seconds.

convertSpeed

private static double convertSpeed(com.irurueta.units.Speed speed)

Converts a speed instance into meters per second.

Parameters:

speed - speed to be converted.

Returns:

speed value expressed in meters per second.

convertAngle

private static double convertAngle(com.irurueta.units.Angle angle)

Converts an angle instance into radians.

Parameters:

angle - angle to be converted.

Returns:

angle value expressed in radians.

convertDistance

private static double convertDistance(com.irurueta.units.Distance distance)

Converts a distance instance into meters.

Parameters:

distance - distance to be converted.

Returns:

distance value expressed in meters.