Package com.irurueta.navigation.inertial.estimators

Class NEDPositionEstimator

java.lang.Object

com.irurueta.navigation.inertial.estimators.NEDPositionEstimator

public class NEDPositionEstimator
extends Object

Estimates curvilinear position by integrating the velocity. 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/Update_curvilinear_position.m

Constructor Summary

Constructors

Constructor	Description
NEDPositionEstimator()

Method Summary

Modifier and Type	Method	Description
private static double	convertAngleToDouble(com.irurueta.units.Angle angle)	Converts provided angle instance to radians (rad).
private static double	convertDistanceToDouble(com.irurueta.units.Distance distance)	Converts provided distance instance to meters (m).
private static double	convertSpeedToDouble(com.irurueta.units.Speed speed)	Converts provided speed instance to meters per second (m/s).
private static double	convertTimeToDouble(com.irurueta.units.Time time)	Converts provided time instance to seconds (s).
void	estimate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
void	estimate(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
com.irurueta.navigation.frames.NEDPosition	estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimatePosition(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static void	estimatePosition(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity, com.irurueta.navigation.frames.NEDPosition result)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static void	estimatePosition(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd, com.irurueta.navigation.frames.NEDPosition result)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(double timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(double timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(double timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval, double oldLatitude, double oldLongitude, double oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.NEDPosition oldPosition, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, double oldVn, double oldVe, double oldVd, double vn, double ve, double vd)	Estimates curvilinear position by integrating the velocity.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.navigation.frames.NEDVelocity oldVelocity, com.irurueta.navigation.frames.NEDVelocity velocity)	Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.
static com.irurueta.navigation.frames.NEDPosition	estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.units.Angle oldLatitude, com.irurueta.units.Angle oldLongitude, com.irurueta.units.Distance oldHeight, com.irurueta.units.Speed oldVn, com.irurueta.units.Speed oldVe, com.irurueta.units.Speed oldVd, com.irurueta.units.Speed vn, com.irurueta.units.Speed ve, com.irurueta.units.Speed vd)	Estimates curvilinear position by integrating the velocity.

Methods inherited from class java.lang.Object

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

Constructor Details

NEDPositionEstimator

public NEDPositionEstimator()

Method Details

estimate

public void estimate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

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

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

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

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

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

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

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

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

public void estimate(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimate

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

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

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

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

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

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

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

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

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

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimateAndReturnNew

public com.irurueta.navigation.frames.NEDPosition estimateAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePosition

public static void estimatePosition(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity,
 com.irurueta.navigation.frames.NEDPosition result)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

result - instance where updated curvilinear position will be stored.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 double oldVn,
 double oldVe,
 double oldVd,
 double vn,
 double ve,
 double vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

oldVe - previous velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

oldVd - previous velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

vn - current velocity of body with respect the Earth, resolved about north-axis and expressed in meters per second (m/s).

ve - current velocity of body with respect the Earth, resolved about east-axis and expressed in meters per second (m/s).

vd - current velocity of body with respect the Earth, resolved about down-axis and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.units.Speed oldVn,
 com.irurueta.units.Speed oldVe,
 com.irurueta.units.Speed oldVd,
 com.irurueta.units.Speed vn,
 com.irurueta.units.Speed ve,
 com.irurueta.units.Speed vd)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVn - previous velocity of body with respect the Earth, resolved about north-axis.

oldVe - previous velocity of body with respect the Earth, resolved about east-axis.

oldVd - previous velocity of body with respect the Earth, resolved about down-axis.

vn - current velocity of body with respect the Earth, resolved about north-axis.

ve - current velocity of body with respect the Earth, resolved about east-axis.

vd - current velocity of body with respect the Earth, resolved about down-axis.

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(double timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval,
 double oldLatitude,
 double oldLongitude,
 double oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude expressed in radians (rad).

oldLongitude - previous longitude expressed in radians (rad).

oldHeight - previous height expressed in meters (m).

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(double timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

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

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Angle oldLatitude,
 com.irurueta.units.Angle oldLongitude,
 com.irurueta.units.Distance oldHeight,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates velocity from curvilinear position changes and taking into account previous velocity respect NED frame.

Parameters:

timeInterval - time interval between epochs.

oldLatitude - previous latitude.

oldLongitude - previous longitude.

oldHeight - previous height.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(double timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates curvilinear position by integrating the velocity.

Parameters:

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

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

estimatePositionAndReturnNew

public static com.irurueta.navigation.frames.NEDPosition estimatePositionAndReturnNew(com.irurueta.units.Time timeInterval,
 com.irurueta.navigation.frames.NEDPosition oldPosition,
 com.irurueta.navigation.frames.NEDVelocity oldVelocity,
 com.irurueta.navigation.frames.NEDVelocity velocity)

Estimates curvilinear position by integrating the velocity.

Parameters:

timeInterval - time interval between epochs.

oldPosition - previous body position with respect the Earth, resolved about north, east and down axes.

oldVelocity - previous velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

velocity - current velocity of body with respect the Earth, resolved about north, east and down axes and expressed in meters per second (m/s).

Returns:

new updated curvilinear position.

Throws:

IllegalArgumentException - if provided time interval is negative.

convertTimeToDouble

private static double convertTimeToDouble(com.irurueta.units.Time time)

Converts provided time instance to seconds (s).

Parameters:

time - time instance to be converted.

Returns:

provided time value expressed in seconds.

convertAngleToDouble

private static double convertAngleToDouble(com.irurueta.units.Angle angle)

Converts provided angle instance to radians (rad).

Parameters:

angle - angle instance to be converted.

Returns:

provided angle value expressed in radians.

convertDistanceToDouble

private static double convertDistanceToDouble(com.irurueta.units.Distance distance)

Converts provided distance instance to meters (m).

Parameters:

distance - distance instance to be converted.

Returns:

provided distance value expressed in meters.

convertSpeedToDouble

private static double convertSpeedToDouble(com.irurueta.units.Speed speed)

Converts provided speed instance to meters per second (m/s).

Parameters:

speed - speed instance to be converted.

Returns:

provided speed value expressed in meters per second.